Soviet Mining

, Volume 26, Issue 6, pp 527–532 | Cite as

A method and a model for mining manipulator control

  • E. V. Kukharev
  • L. G. Adorskaya
Mechanization and Automation of Mine Workings


  1. 1.

    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.

  2. 2.

    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.

  3. 3.

    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.



Adjusted Cost Cement Mortar Generalize Member Mining Manipulator Kinematic Scheme 
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Copyright information

© Plenum Publishing Corporation 1991

Authors and Affiliations

  • E. V. Kukharev
  • L. G. Adorskaya

There are no affiliations available

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