Use of restoring force for control of manipulator/vehicle system floating on the water

Kazuhiro Kosuge, Hisashi Kajita, Toshio Fukuda

Research output: Chapter in Book/Report/Conference proceedingChapter

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.

Original languageEnglish
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Pages103-106
Number of pages4
Publication statusPublished - 1996 Dec 1
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: 1996 Jul 71996 Jul 10

Publication series

NameProceedings of the Japan/USA Symposium on Flexible Automation
Volume1

Other

OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA
Period96/7/796/7/10

ASJC Scopus subject areas

  • Engineering(all)

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