Advanced control of manipulator/vehicle system floating on the water

Hisashi Kajita, Jun Imamura, Kazuhiro Kosuge

Research output: Contribution to conferencePaperpeer-review

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 languageEnglish
Pages2397-2402
Number of pages6
Publication statusPublished - 1998 Jan 1
EventProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
Duration: 1998 Aug 311998 Sep 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98/8/3198/9/4

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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