@inbook{9c7f4bfafbdd4965b5435d345dca9ab3,
title = "Use of restoring force for control of manipulator/vehicle system floating on the water",
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 dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. Simulation results illustrate the validity of the proposed algorithm.",
author = "Kazuhiro Kosuge and Hisashi Kajita and Toshio Fukuda",
year = "1996",
month = dec,
day = "1",
language = "English",
series = "Proceedings of the Japan/USA Symposium on Flexible Automation",
pages = "103--106",
editor = "K. Stelson and F. Oba",
booktitle = "Proceedings of the Japan/USA Symposium on Flexible Automation",
note = "Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) ; Conference date: 07-07-1996 Through 10-07-1996",
}