Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force

Kazuhiro Kosuge, Hisashi Kajita, Toshio Fukuda

Research output: Contribution to conferencePaperpeer-review

2 Citations (Scopus)

Abstract

This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. We derive the relation between thruster outputs and the endpoint force/moment based on the kinematics and the dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. We design a velocity-based control algorithm and illustrate the validity of the proposed algorithm by simulation.

Original languageEnglish
Pages506-511
Number of pages6
Publication statusPublished - 1996 Jan 1
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: 1996 Mar 181996 Mar 21

Other

OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period96/3/1896/3/21

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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