| 摘要 |
PROBLEM TO BE SOLVED: To conform the connecting point of a retaining lining member to the connecting point of an existing lining member by calculating both deviations of position and attitude from a connecting point on the basis of both target value vectors of position and attitude and both vectors of actual position and attitude, and drive-controlling each moving means and each rocking means on the basis of them. SOLUTION: A displacement detector 101 detects the displacements XC, YC, ZC of the end point conformed to the end point of an existing segment when a retaining segment S is connected to the existing segment from the stroke of each jack. A displacement detector 102 detects the displacements of another end point from the stroke of each jack, and a converter 103 converts them to determine rolling angleθXC, pitching angleθYC and yawing angleθZC. A control device 110 performs the position control and attitude control of the retaining segment S on the basis of respective corrected speeds Vx, Vy, and Vz of X, Y, and X axes and respective expanding speeds Wxj, Wyj, and Wzj of rolling axis, pitching axis and yawing axis.
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