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

Kazuhiro Kosuge, Hisashi Kajita, Toshio Fukuda

研究成果: Chapter

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the Japan/USA Symposium on Flexible Automation
編集者K. Stelson, F. Oba
ページ103-106
ページ数4
出版ステータスPublished - 1996 12 1
イベントProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
継続期間: 1996 7 71996 7 10

出版物シリーズ

名前Proceedings of the Japan/USA Symposium on Flexible Automation
1

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

  • 工学(全般)

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