File Download
There are no files associated with this item.
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Use of restoring force for control of manipulator/vehicle system floating on the water
| Title | Use of restoring force for control of manipulator/vehicle system floating on the water |
|---|---|
| Authors | |
| Issue Date | 1996 |
| Citation | Proceedings of the Japan/USA Symposium on Flexible Automation, 1996, v. 1, p. 103-106 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 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. |
| Persistent Identifier | http://hdl.handle.net/10722/302668 |
| 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 | Proceedings of the Japan/USA Symposium on Flexible Automation, 1996, v. 1, p. 103-106 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302668 | - |
| 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 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. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings of the Japan/USA Symposium on Flexible Automation | - |
| dc.title | Use of restoring force for control of manipulator/vehicle system floating on the water | - |
| dc.type | Conference_Paper | - |
| dc.identifier.scopus | eid_2-s2.0-0030383098 | - |
| dc.identifier.volume | 1 | - |
| dc.identifier.spage | 103 | - |
| dc.identifier.epage | 106 | - |