Advanced control of manipulator/vehicle system floating on the water

Hisashi Kajita, Jun Imamura, Kazuhiro Kosuge

研究成果: Paper査読

抄録

This paper presents a force control strategy for a water-surface robot. The control strategy reduces the number of vehicle actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this research, the relationship between thruster outputs and the contact force/moment at the endpoint is derived taking the restoring force into account, and the range of the realizable contact force is calculated using this relationship. Moreover, an experimental system of robot on the water is introduced in the last of this paper.

本文言語English
ページ2397-2402
ページ数6
出版ステータスPublished - 1998 1月 1
イベントProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger
継続期間: 1998 8月 311998 9月 4

Other

OtherProceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
CityAachen, Ger
Period98/8/3198/9/4

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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