INTELLIGENT DRILLING BY AUTOMATIC CONTROL OF POSITION AND ORIENTATION OF DRILL HEAD OF CRAWLER DRILL MACHINE

摘要

A crawler drill is mainly used in the crushed ore industry. This paper is concerned with the automatic control of the drill head of the crawler drill machine. In this study, the crawler drill machine is assumed to be the linkage by considering the actual machine. By using this linkage, two programs were developed. One is a program that determines the position and the orientation of the drill head from the angle of each joint. Another one is a program that determines the angles of each joint to make the drill head move to the desired position and orientation. By use of these programs, numerical simulation to control the drill head was carried out. It was confirmed that these programs work well.