Abstract
This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The proposed strategy makes it possible to compensate the reaction force/moment by actuator force restricted in a plane fixed to the vehicle. Moreover the poroposed control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this paper, we derive the relation between thruster outputs and the force/moment exerted at the end-effector based on the kinematics of the system taking the restoring force into account. Using this relation, we calculate the realizable force at the end-effector.
| Original language | English |
|---|---|
| Pages (from-to) | 1757-1763 |
| Number of pages | 7 |
| Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 64 |
| Issue number | 621 |
| DOIs | |
| Publication status | Published - 1998 |
| Externally published | Yes |
Keywords
- Force Control
- Manipulator
- Manipulator on the Water
- Moving Robot
- Robot
ASJC Scopus subject areas
- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering