TY - GEN
T1 - Control of manipulator/vehicle system floating on the water
AU - Kosuge, Kazuhiro
AU - Fukuda, Toshio
AU - Ohkubo, Hideaki
PY - 1991/12/1
Y1 - 1991/12/1
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.
UR - http://www.scopus.com/inward/record.url?scp=0026394722&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:0026394722
SN - 0780304500
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 2781
EP - 2786
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)
Y2 - 11 December 1991 through 13 December 1991
ER -