Control of Manipulator/Vehicle System Floating on the Water (1st Report, Utilizing Restoring Force on Force Control)

Hisashi Kajita, Kazuhiro Kosuge

Research output: Contribution to journalArticlepeer-review

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 languageEnglish
Pages (from-to)1757-1763
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume64
Issue number621
DOIs
Publication statusPublished - 1998

Keywords

  • Force Control
  • Manipulator
  • Manipulator on the Water
  • Moving Robot
  • Robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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