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Abstract

The most typical method of tunneling in complicated geographical conditions is still blasthole drilling. To improve the efficiency of the work, Vietnam and several other countries have used drilling devices fitted with self-propelled hydraulic seven-link robotic arms which can also be manually controlled to modernize the drilling and blasting processes and improve the accuracy of the work. The task of controlling the robotic arm to automatically drill the holes exactly as specified in the passport of blasting prepared by geotechnical and underground construction engineers requires a control algorithm for the controller of the robot. The matter will be clearly presented in this article.



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Article Details

Issue: Vol 20 No K5 (2017)
Page No.: 13-22
Published: Aug 31, 2017
Section: Engineering and Technology - Research article
DOI: https://doi.org/10.32508/stdj.v20iK5.1153

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Creative Commons License

Copyright: The Authors. This is an open access article distributed under the terms of the Creative Commons Attribution License CC-BY 4.0., which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are credited.

 How to Cite
Nguyen, T., & Nguyen, T. (2017). A kinematic control algorithm for blasthole drilling robotic arm in tunneling. Science and Technology Development Journal, 20(K5), 13-22. https://doi.org/https://doi.org/10.32508/stdj.v20iK5.1153

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