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.
|出版ステータス||Published - 1997 12 1|
|イベント||Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn|
継続期間: 1997 6 16 → 1997 6 20
|Other||Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97|
|Period||97/6/16 → 97/6/20|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用