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- Publisher Website: 10.1109/CDC.1991.261864
- Scopus: eid_2-s2.0-0026394722
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Conference Paper: Control of manipulator/vehicle system floating on the water
| Title | Control of manipulator/vehicle system floating on the water |
|---|---|
| Authors | |
| Issue Date | 1991 |
| Citation | Proceedings of the IEEE Conference on Decision and Control, 1991, v. 3, p. 2781-2786 How to Cite? |
| Abstract | The authors discuss the control issues of manipulator/vehicle systems floating on the water and propose algorithms to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. They develop the basic kinematic equations and then derive an equation which describes the dynamic relation between the system and the external forces/moments applied to it. Two types of control algorithms are derived: (1) manipulator trajectory control with passive vibration control, and (2) the simultaneous control of the manipulator trajectory and the vehicle vibration. Simulation results illustrate the effectiveness of the proposed control algorithm. |
| Persistent Identifier | http://hdl.handle.net/10722/302602 |
| ISSN | 2020 SCImago Journal Rankings: 0.395 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.contributor.author | Fukuda, Toshio | - |
| dc.contributor.author | Ohkubo, Hideaki | - |
| dc.date.accessioned | 2021-09-07T08:42:13Z | - |
| dc.date.available | 2021-09-07T08:42:13Z | - |
| dc.date.issued | 1991 | - |
| dc.identifier.citation | Proceedings of the IEEE Conference on Decision and Control, 1991, v. 3, p. 2781-2786 | - |
| dc.identifier.issn | 0191-2216 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302602 | - |
| dc.description.abstract | The authors discuss the control issues of manipulator/vehicle systems floating on the water and propose algorithms to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. They develop the basic kinematic equations and then derive an equation which describes the dynamic relation between the system and the external forces/moments applied to it. Two types of control algorithms are derived: (1) manipulator trajectory control with passive vibration control, and (2) the simultaneous control of the manipulator trajectory and the vehicle vibration. Simulation results illustrate the effectiveness of the proposed control algorithm. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings of the IEEE Conference on Decision and Control | - |
| dc.title | Control of manipulator/vehicle system floating on the water | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/CDC.1991.261864 | - |
| dc.identifier.scopus | eid_2-s2.0-0026394722 | - |
| dc.identifier.volume | 3 | - |
| dc.identifier.spage | 2781 | - |
| dc.identifier.epage | 2786 | - |