Compliant motion control of manipulator/vehicle system floating on the water

Kazuhiro Kosuge; Toshio Fukuda; Minoru Okuda

Compliant motion control of manipulator/vehicle system floating on the water

Kazuhiro Kosuge
, Toshio Fukuda
, Minoru Okuda

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

3 Citations (Scopus)

Abstract

This paper discusses the control issues of the manipulator/vehicle systems floating on the water and proposes a compliant motion control algorithm. The manipulator/vehicle system floating on the water consists of a vehicle and a manipulator attached to it. The system on the water is not fixed to the inertial coordinate system like space manipulators. The external forces caused by the interactions between the manipulator and its environments affect the motion of the system and the interactions of motions among the vehicle, the manipulator and the water cause vibration of the system. In this paper, we propose a control algorithm, which simultaneously controls both the endpoint compliant motion of the manipulator and the position/orientation of the vehicle using thrusters attached to the vehicle. First, we derive the equation, which describes the dynamic relation between the system and the external forces/moments applied to it, then propose a simultaneous control algorithm of the manipulator endpoint compliant motion and the position/orientation of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm.

Original language	English
Title of host publication	Flexible Automation 1992
Publisher	Publ by ASME
Pages	1261-1268
Publication status	Published - 1992
Externally published	Yes
Event	Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2) - San Francisco, CA, USA Duration: 13 Jul 1992 → 15 Jul 1992

Conference

Conference	Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2)
City	San Francisco, CA, USA
Period	13/07/92 → 15/07/92

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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{9d74eeb7a5314a00bfd1d72b5dbbcf7c,

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

abstract = "This paper discusses the control issues of the manipulator/vehicle systems floating on the water and proposes a compliant motion control algorithm. The manipulator/vehicle system floating on the water consists of a vehicle and a manipulator attached to it. The system on the water is not fixed to the inertial coordinate system like space manipulators. The external forces caused by the interactions between the manipulator and its environments affect the motion of the system and the interactions of motions among the vehicle, the manipulator and the water cause vibration of the system. In this paper, we propose a control algorithm, which simultaneously controls both the endpoint compliant motion of the manipulator and the position/orientation of the vehicle using thrusters attached to the vehicle. First, we derive the equation, which describes the dynamic relation between the system and the external forces/moments applied to it, then propose a simultaneous control algorithm of the manipulator endpoint compliant motion and the position/orientation of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm.",

author = "Kazuhiro Kosuge and Toshio Fukuda and Minoru Okuda",

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 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2) ; Conference date: 13-07-1992 Through 15-07-1992",

year = "1992",

language = "English",

pages = "1261--1268",

booktitle = "Flexible Automation 1992",

publisher = "Publ by ASME",

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TY - GEN

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

AU - Kosuge, Kazuhiro

AU - Fukuda, Toshio

AU - Okuda, Minoru

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 - 1992

Y1 - 1992

N2 - This paper discusses the control issues of the manipulator/vehicle systems floating on the water and proposes a compliant motion control algorithm. The manipulator/vehicle system floating on the water consists of a vehicle and a manipulator attached to it. The system on the water is not fixed to the inertial coordinate system like space manipulators. The external forces caused by the interactions between the manipulator and its environments affect the motion of the system and the interactions of motions among the vehicle, the manipulator and the water cause vibration of the system. In this paper, we propose a control algorithm, which simultaneously controls both the endpoint compliant motion of the manipulator and the position/orientation of the vehicle using thrusters attached to the vehicle. First, we derive the equation, which describes the dynamic relation between the system and the external forces/moments applied to it, then propose a simultaneous control algorithm of the manipulator endpoint compliant motion and the position/orientation of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm.

AB - This paper discusses the control issues of the manipulator/vehicle systems floating on the water and proposes a compliant motion control algorithm. The manipulator/vehicle system floating on the water consists of a vehicle and a manipulator attached to it. The system on the water is not fixed to the inertial coordinate system like space manipulators. The external forces caused by the interactions between the manipulator and its environments affect the motion of the system and the interactions of motions among the vehicle, the manipulator and the water cause vibration of the system. In this paper, we propose a control algorithm, which simultaneously controls both the endpoint compliant motion of the manipulator and the position/orientation of the vehicle using thrusters attached to the vehicle. First, we derive the equation, which describes the dynamic relation between the system and the external forces/moments applied to it, then propose a simultaneous control algorithm of the manipulator endpoint compliant motion and the position/orientation of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm.

UR - http://www.scopus.com/inward/record.url?scp=0027060864&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0027060864&origin=recordpage

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

SP - 1261

EP - 1268

BT - Flexible Automation 1992

PB - Publ by ASME

T2 - Proceedings of the 1992 Japan - USA Symposium on Flexible Automation Part 2 (of 2)

Y2 - 13 July 1992 through 15 July 1992

ER -

Compliant motion control of manipulator/vehicle system floating on the water

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