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Article: Force control of a water-surface robot utilizing vehicle restoring force
Title | Force control of a water-surface robot utilizing vehicle restoring force |
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Authors | |
Keywords | Water-surface robot Force control Vessel Simulator Mobile manipulator |
Issue Date | 1997 |
Citation | Advanced Robotics, 1997, v. 12, n. 6, p. 651-662 How to Cite? |
Abstract | This paper presents a force control strategy for a water-surface robot. 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 outputsand 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 experiments using this simulatorillustrate the validity of the proposed algorithm. © VSP and Robotics Society of Japan 1999. |
Persistent Identifier | http://hdl.handle.net/10722/302641 |
ISSN | 2023 Impact Factor: 1.4 2023 SCImago Journal Rankings: 0.605 |
DC Field | Value | Language |
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dc.contributor.author | Kajita, Hisashi | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:18Z | - |
dc.date.available | 2021-09-07T08:42:18Z | - |
dc.date.issued | 1997 | - |
dc.identifier.citation | Advanced Robotics, 1997, v. 12, n. 6, p. 651-662 | - |
dc.identifier.issn | 0169-1864 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302641 | - |
dc.description.abstract | This paper presents a force control strategy for a water-surface robot. 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 outputsand 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 experiments using this simulatorillustrate the validity of the proposed algorithm. © VSP and Robotics Society of Japan 1999. | - |
dc.language | eng | - |
dc.relation.ispartof | Advanced Robotics | - |
dc.subject | Water-surface robot | - |
dc.subject | Force control | - |
dc.subject | Vessel | - |
dc.subject | Simulator | - |
dc.subject | Mobile manipulator | - |
dc.title | Force control of a water-surface robot utilizing vehicle restoring force | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1163/156855399X00054 | - |
dc.identifier.scopus | eid_2-s2.0-0032666150 | - |
dc.identifier.volume | 12 | - |
dc.identifier.issue | 6 | - |
dc.identifier.spage | 651 | - |
dc.identifier.epage | 662 | - |
dc.identifier.eissn | 1568-5535 | - |