A method and a model for mining manipulator control
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Analytic formulas have been derived and a method developed for modeling the control of mining manipulators with an arbitrary kinematic scheme. It is based on an analysis of the interaction of “environment-process-manipulator” subsystems.
The manipulator control model makes it possible to analyze and synthesize mining manipulators. With the concept of a “generalized member” one can describe in a uniform fashion any manipulator interpreting it as a combination of generalized members subjected to certain design constraints.
The analysis of the interaction of “environment-process-manipulator” subsystems is illustrated by the process of building up a layer of sprayed concrete. Robotization is shown to be a way for improving the efficiency of mining, crucial for operations at great depths.
KeywordsAdjusted Cost Cement Mortar Generalize Member Mining Manipulator Kinematic Scheme
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