Concepts of an Advanced Cartesian Control System for a Redundant Twin Boom Drill Rig

The handling of complex machines such as redundant manipulators requires ap-propriate control systems in order to make the operating of the system easier and to reduce processing time. This paper presents an advanced control system for a drilling rig used in tunnel construction which is currently under develop- ment in cooperation with an industrial partner. The drill rig is equipped with two redundant drilling booms each actuated by eight hydraulic drives. The main objective of the project is the improvement of manual handling of the redundant drilling booms. For this reason, a Cartesian control concept based on• a special kind of the generalized inverse Jacobian is used to calculate in teal-time the in- verse kinematics on velocity level. Furthermore, collision avoidance strategies will be implemented to achieve real-time collision avoidance while operating the two booms at the same time. Another important aspect is the development of a graphically supported man-machine-interface which enables an easy handling in manual and automatic control modes.