Force control of robot floating on the water utilizing vehicle restoring force

H. Kajita, K. Kosuge

研究成果: Paper査読

17 被引用数 (Scopus)

抄録

This paper presents a force control strategy for a robot floating on the water. 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, 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.

本文言語English
ページ162-167
ページ数6
出版ステータスPublished - 1997 12月 1
イベントProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr
継続期間: 1997 9月 71997 9月 11

Other

OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3)
CityGrenoble, Fr
Period97/9/797/9/11

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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