Utilization of vehicle restoring force in force control of robot floating on the water

Hisashi Kajita, Kazuhiro Kosuge

Research output: Contribution to conferencePaperpeer-review

1 Citation (Scopus)

Abstract

In this research, we consider force control problem of the robot floating on the water. The control strategy we proposed reduces the number of actuators required for the force control by utilizing the restoring force/moment acting on the vehicle. The relationship between thruster outputs and the contact force/moment at the end-effector is derived taking the restoring force into account. Moreover, a simulator of the vehicle motion is developed, and the results of experiment by means of this simulator illustrate the validity of the proposed algorithm.

Original languageEnglish
Number of pages1
Publication statusPublished - 1997 Dec 1
EventProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn
Duration: 1997 Jun 161997 Jun 20

Other

OtherProceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97
CityTokyo, Jpn
Period97/6/1697/6/20

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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