Shuai-Kun Zhang

Dynamic Modeling and Robust Trajectory Tracking Control of a Heavy-Duty Manipulator for Shield Cutter Replacement Under Variable Payloads

Automatic cutter replacement in large-diameter shield tunneling requires a manipulator to track prescribed motions while carrying a heavy cutter, releasing or acquiring the payload, and operating under uncertain dynamics and external disturbances. This study develops a reduced-order three-revolute-joint model for the d...