Control of manipulator/vehicle system floating on the water

Kazuhiro Kosuge; Toshio Fukuda; Hideaki Ohkubo

Control of manipulator/vehicle system floating on the water

Kazuhiro Kosuge, Toshio Fukuda, Hideaki Ohkubo

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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 language	English
Title of host publication	Proceedings of the IEEE Conference on Decision and Control
Publisher	Publ by IEEE
Pages	2781-2786
Number of pages	6
ISBN (Print)	0780304500
Publication status	Published - 1991 Dec 1
Externally published	Yes
Event	Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3) - Brighton, Engl Duration: 1991 Dec 11 → 1991 Dec 13

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	3
ISSN (Print)	0191-2216

Other

Other	Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)
City	Brighton, Engl
Period	91/12/11 → 91/12/13

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

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title = "Control of manipulator/vehicle system floating on the water",

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.",

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T1 - Control of manipulator/vehicle system floating on the water

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AU - Fukuda, Toshio

AU - Ohkubo, Hideaki

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N2 - 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.

AB - 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.

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AN - SCOPUS:0026394722

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BT - Proceedings of the IEEE Conference on Decision and Control

PB - Publ by IEEE

T2 - Proceedings of the 30th IEEE Conference on Decision and Control Part 1 (of 3)

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