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Computer-controlled automated jumbo drilling robot manipulator

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Summary

This programme involves the study of the technique of using a micro-computer to control a rock drilling machine. The motion of an existing jumbo machine has been successfully analysed. The kinematic control equations are established for any given geometrical configuration. The computer software has been written to demonstrate its feasibility. The needs of hardware implementation are also discussed.

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References

  • Benson, B. (1985)Rotary and Linear Electrohydraulic Stepping Actuators, MTS Systems Corporation, Minneapolis, Minnesota, USA. Company monograph.

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  • Berghahl, S.G. (1976) Automatic control in percussion drilling, inThe Proceedings of the 2nd IFAC Symposium on Automation in Mining, Mineral and Metal Processing, Johannesburg, South Africa, pp. 627–30.

  • Ho, C.Y. and Copeland, K.W. (1982) Solution of kinematic equations for robot manipulators, inDigital Systems for Industrial Automation, Vol. 1, No. 4, pp. 335–52.

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  • Ranky, P.G. and Ho, C.Y. (1985)Robot Modelling—Control and Application with Software, IFS, Springer-Verlag.

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Author information

Authors and Affiliations

  1. Computer Science Department and Rock Mechanics and Explosive Research Center, University of Missouri-Rolla, 65401, Missouri, USA

    C. Y. Ho

  2. Mining Department, University of Missouri-Rolla, 65401, Rolla, Missouri, USA

    Yao Jianchi

Authors
  1. C. Y. Ho
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  2. Yao Jianchi
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Additional information

The Deputy Chief Engineer at Yangzhuang Coal Mine, Hueibei Coal Mining Bureau, China.

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Ho, C.Y., Jianchi, Y. Computer-controlled automated jumbo drilling robot manipulator. International Journal of Mining and Geological Engineering 4, 303–318 (1986). https://doi.org/10.1007/BF01552959

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  • DOI: https://doi.org/10.1007/BF01552959

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