Control of manipulator/vehicle system floating on the water

Kazuhiro Kosuge, Toshio Fukuda, Hideaki Ohkubo

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

The authors discuss the control issues of manipulator/vehicle systems floating on the water and propose algorithms to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. They develop the basic kinematic equations and then derive an equation which describes the dynamic relation between the system and the external forces/moments applied to it. Two types of control algorithms are derived: (1) manipulator trajectory control with passive vibration control, and (2) the simultaneous control of the manipulator trajectory and the vehicle vibration. Simulation results illustrate the effectiveness of the proposed control algorithm.

Original languageEnglish
Title of host publicationProceedings of the IEEE Conference on Decision and Control
PublisherPubl by IEEE
Pages2781-2786
Number of pages6
ISBN (Print)0780304500
Publication statusPublished - 1991 Dec 1
Externally publishedYes
EventProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl
Duration: 1991 Dec 111991 Dec 13

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume3
ISSN (Print)0191-2216

Other

OtherProceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
CityBrighton, Engl
Period91/12/1191/12/13

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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