| 摘要 |
PROBLEM TO BE SOLVED: To provide a method and a device for assembling a segment of a shield machine, which allow the segment to be easily assembled to an existing segment when a position and a force are controlled. SOLUTION: After a slewing finely-adjusting actuator 63 and a radial actuator 65 are positionally controlled so that a segment origin Os can be moved to rough positioning target positions (r d0,θd0 and z d0), the segment 70 is assembled by being moved to adjacent assembly target positions (r dc,θdc and z dc) of the existing segment 70 while the position and force of the segment 70 are controlled in directions of rolling, pitching and yawing by three actuators 68 for adjusting the rolling and the pitching and a yawing adjusting actuator 66 in accordance with a task coordinate system. COPYRIGHT: (C)2003,JPO
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