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- Publisher Website: 10.1299/kikaic.64.1757
- Scopus: eid_2-s2.0-85024471774
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Article: 水上に浮遊するマニピュレータ/ビークル系の制御 (第1報, 力制御における復原力の利用)
| Title | 水上に浮遊するマニピュレータ/ビークル系の制御 (第1報, 力制御における復原力の利用) Control of Manipulator/Vehicle System Floating on the Water (1st Report, Utilizing Restoring Force on Force Control) |
|---|---|
| Authors | |
| Keywords | Robot Manipulator on the Water Moving Robot Force Control Manipulator |
| Issue Date | 1998 |
| Citation | 日本機械学会論文集Ｃ編, 1998, v. 64, n. 621, p. 1757-1763 How to Cite? Transactions of the Japan Society of Mechanical Engineers, Part C, 1998, v. 64, n. 621, p. 1757-1763 How to Cite? |
| Abstract | This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The proposed strategy makes it possible to compensate the reaction force/moment by actuator force restricted in a plane fixed to the vehicle. Moreover the poroposed control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this paper, we derive the relation between thruster outputs and the force/moment exerted at the end-effector based on the kinematics of the system taking the restoring force into account. Using this relation, we calculate the realizable force at the end-effector. © 1998, The Japan Society of Mechanical Engineers. All rights reserved. |
| Persistent Identifier | http://hdl.handle.net/10722/302978 |
| ISSN | 2019 SCImago Journal Rankings: 0.104 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Kajita, Hisashi | - |
| dc.contributor.author | Kosuge, Kazuhiro | - |
| dc.date.accessioned | 2021-09-07T08:42:58Z | - |
| dc.date.available | 2021-09-07T08:42:58Z | - |
| dc.date.issued | 1998 | - |
| dc.identifier.citation | 日本機械学会論文集Ｃ編, 1998, v. 64, n. 621, p. 1757-1763 | - |
| dc.identifier.citation | Transactions of the Japan Society of Mechanical Engineers, Part C, 1998, v. 64, n. 621, p. 1757-1763 | - |
| dc.identifier.issn | 0387-5024 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/302978 | - |
| dc.description.abstract | This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The proposed strategy makes it possible to compensate the reaction force/moment by actuator force restricted in a plane fixed to the vehicle. Moreover the poroposed control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. In this paper, we derive the relation between thruster outputs and the force/moment exerted at the end-effector based on the kinematics of the system taking the restoring force into account. Using this relation, we calculate the realizable force at the end-effector. © 1998, The Japan Society of Mechanical Engineers. All rights reserved. | - |
| dc.language | jpn | - |
| dc.relation.ispartof | 日本機械学会論文集Ｃ編 | - |
| dc.relation.ispartof | Transactions of the Japan Society of Mechanical Engineers, Part C | - |
| dc.subject | Robot | - |
| dc.subject | Manipulator on the Water | - |
| dc.subject | Moving Robot | - |
| dc.subject | Force Control | - |
| dc.subject | Manipulator | - |
| dc.title | 水上に浮遊するマニピュレータ/ビークル系の制御 (第1報, 力制御における復原力の利用) | - |
| dc.title | Control of Manipulator/Vehicle System Floating on the Water (1st Report, Utilizing Restoring Force on Force Control) | - |
| dc.type | Article | - |
| dc.description.nature | link_to_OA_fulltext | - |
| dc.identifier.doi | 10.1299/kikaic.64.1757 | - |
| dc.identifier.scopus | eid_2-s2.0-85024471774 | - |
| dc.identifier.volume | 64 | - |
| dc.identifier.issue | 621 | - |
| dc.identifier.spage | 1757 | - |
| dc.identifier.epage | 1763 | - |