Advanced control of manipulator/vehicle system floating on the water

Hisashi Kajita; Jun Imamura; Kazuhiro Kosuge

doi:10.1109/iecon.1998.724100

Advanced control of manipulator/vehicle system floating on the water

Hisashi Kajita
, Jun Imamura
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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 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.

Original language	English
Title of host publication	IECON Proceedings (Industrial Electronics Conference)
Publisher	IEEE Computer Society
Pages	2397-2402
Volume	4
DOIs	https://doi.org/10.1109/iecon.1998.724100
Publication status	Published - 1998
Externally published	Yes
Event	Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) - Aachen, Ger Duration: 31 Aug 1998 → 4 Sept 1998

Conference

Conference	Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)
City	Aachen, Ger
Period	31/08/98 → 4/09/98

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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@inproceedings{204a8d9953774364afab34503481ad78,

title = "Advanced control of manipulator/vehicle system floating on the water",

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 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.",

author = "Hisashi Kajita and Jun Imamura and Kazuhiro Kosuge",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4) ; Conference date: 31-08-1998 Through 04-09-1998",

year = "1998",

doi = "10.1109/iecon.1998.724100",

language = "English",

volume = "4",

pages = "2397--2402",

booktitle = "IECON Proceedings (Industrial Electronics Conference)",

publisher = "IEEE Computer Society",

address = "United States",

}

Kajita, H, Imamura, J & Kosuge, K 1998, Advanced control of manipulator/vehicle system floating on the water. in IECON Proceedings (Industrial Electronics Conference). vol. 4, IEEE Computer Society, pp. 2397-2402, Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4), Aachen, Ger, 31/08/98. https://doi.org/10.1109/iecon.1998.724100

Advanced control of manipulator/vehicle system floating on the water. / Kajita, Hisashi; Imamura, Jun; Kosuge, Kazuhiro.
IECON Proceedings (Industrial Electronics Conference). Vol. 4 IEEE Computer Society, 1998. p. 2397-2402.

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Advanced control of manipulator/vehicle system floating on the water

AU - Kajita, Hisashi

AU - Imamura, Jun

AU - Kosuge, Kazuhiro

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 1998

Y1 - 1998

N2 - 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 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.

AB - 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 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.

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DO - 10.1109/iecon.1998.724100

M3 - RGC 32 - Refereed conference paper (with host publication)

VL - 4

SP - 2397

EP - 2402

BT - IECON Proceedings (Industrial Electronics Conference)

PB - IEEE Computer Society

T2 - Proceedings of the 1998 24th Annual Conference of the IEEE Industrial Electronics Society, IECON. Part 4 (of 4)

Y2 - 31 August 1998 through 4 September 1998

ER -

Advanced control of manipulator/vehicle system floating on the water

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