Abstract
This paper presents a force control strategy for a water-surface robot. The control strategy reduces the number of vehicle actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this research, the relationship between thruster outputs and the contact force/moment at the endpoint is derived taking the restoring force into account, and the range of the realizable contact force is calculated using this relationship. Moreover, an experimental system of robot on the water is introduced in the last of this paper.
| Original language | English |
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| Pages | 2397-2402 |
| Number of pages | 6 |
| Publication status | Published - 1998 Jan 1 |
| Event | Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger Duration: 1998 Aug 31 → 1998 Sep 4 |
Other
| Other | Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) |
|---|---|
| City | Aachen, Ger |
| Period | 98/8/31 → 98/9/4 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering