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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
  • 42 Downloads

Conclusions

  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.

     

Keywords

Adjusted Cost Cement Mortar Generalize Member Mining Manipulator Kinematic Scheme 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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