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- Publisher Website: 10.1109/AMC.1996.509300
- Scopus: eid_2-s2.0-0029717939
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Conference Paper: Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force
| Title | Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force |
|---|---|
| Authors | |
| Issue Date | 1996 |
| Citation | International Workshop on Advanced Motion Control, AMC, 1996, v. 2, p. 506-511 How to Cite? |
| Abstract | 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 the dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. We design a velocity-based control algorithm and illustrate the validity of the proposed algorithm by simulation. |
| Persistent Identifier | http://hdl.handle.net/10722/302664 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Kajita, Hisashi | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.date.accessioned | 2021-09-07T08:42:21Z | - |
| dc.date.available | 2021-09-07T08:42:21Z | - |
| dc.date.issued | 1996 | - |
| dc.identifier.citation | International Workshop on Advanced Motion Control, AMC, 1996, v. 2, p. 506-511 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302664 | - |
| dc.description.abstract | 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 the dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. We design a velocity-based control algorithm and illustrate the validity of the proposed algorithm by simulation. | - |
| dc.language | eng | - |
| dc.relation.ispartof | International Workshop on Advanced Motion Control, AMC | - |
| dc.title | Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/AMC.1996.509300 | - |
| dc.identifier.scopus | eid_2-s2.0-0029717939 | - |
| dc.identifier.volume | 2 | - |
| dc.identifier.spage | 506 | - |
| dc.identifier.epage | 511 | - |