Kinematic Fundamentals for the Semi-Automated Drilling of Vertical Blast Holes in Salt Mines

To increase the accuracy of drilling in salt diapir a software module with kinematic equations was integrated into the control of a drilling vehicle. Despite the complex hybrid serial-parallel structure the HD-notation is used for the kinematic equations. DKP and IKP (with the method of Paul) are calculated analytically. The undefined ceiling of the tunnel requires a semi-automated operation which is enabled by a combination of DKP and IKP. Since reference points are unknown, a method was developed in which the reference points lie in a defined position to each other and to the reference system.