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Conference Paper: Advanced control of manipulator/vehicle system floating on the water

TitleAdvanced control of manipulator/vehicle system floating on the water
Authors
Kajita, HisashiImamura, JunKosuge, Kazuhiro
Issue Date1998
Citation
IECON Proceedings (Industrial Electronics Conference), 1998, v. 4, p. 2397-2402 How to Cite?
DOI: http://dx.doi.org/10.1109/IECON.1998.724100
AbstractThis 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 outputs and 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, an experimental system of robot on the water is introduced in the last of this paper.
Persistent Identifierhttp://hdl.handle.net/10722/302689

 

DC FieldValueLanguage
dc.contributor.authorKajita, Hisashi-
dc.contributor.authorImamura, Jun-
dc.contributor.authorKosuge, Kazuhiro-
dc.date.accessioned2021-09-07T08:42:24Z-
dc.date.available2021-09-07T08:42:24Z-
dc.date.issued1998-
dc.identifier.citationIECON Proceedings (Industrial Electronics Conference), 1998, v. 4, p. 2397-2402-
dc.identifier.urihttp://hdl.handle.net/10722/302689-
dc.description.abstractThis 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 outputs and 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, an experimental system of robot on the water is introduced in the last of this paper.-
dc.languageeng-
dc.relation.ispartofIECON Proceedings (Industrial Electronics Conference)-
dc.titleAdvanced control of manipulator/vehicle system floating on the water-
dc.typeConference_Paper-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/IECON.1998.724100-
dc.identifier.scopuseid_2-s2.0-0032296728-
dc.identifier.volume4-
dc.identifier.spage2397-
dc.identifier.epage2402-

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