Control of Manipulator/Vehicle System on Water

Kazuhiro Kosuge; Minoru Okuda; Hideaki Ohkubo; Toshio Fukuda; Fumihito Arai

doi:10.1299/kikaic.58.2144

Control of Manipulator/Vehicle System on Water

Kazuhiro Kosuge
, Minoru Okuda
, Hideaki Ohkubo
, Toshio Fukuda
, Fumihito Arai

Research output: Journal Publications and Reviews › RGC 21 - Publication in refereed journal › peer-review

Abstract

The manipulator/vehicle system floating on water consists of a vehicle and a manipulator attached to it. Similar to the space manipulator/vehicle system, the system on water is not fixed to an inertial coordinate system. Moreover, the external forces affect the motion of the system, and the interaction of motions among the vehicle, the manipulator and water causes vibration of the system. This paper discusses the control issues of a manipulator/vehicle system floating on water and proposes an algorithm to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. We develop the basic kinematic equations and then 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 trajectory and the vibration of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm. © 1992, The Japan Society of Mechanical Engineers. All rights reserved.

Original language	English
Pages (from-to)	2144-2151
Journal	Transactions of the Japan Society of Mechanical Engineers Series C
Volume	58
Issue number	551
DOIs	https://doi.org/10.1299/kikaic.58.2144
Publication status	Published - 1992
Externally published	Yes

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].

Research Keywords

Dynamic Control
Manipulator/Vehicle System
Nonlinear Feedback Control
Redundant Actuator
Robotics
Trajectory Control
Vibration Control

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title = "Control of Manipulator/Vehicle System on Water",

abstract = "The manipulator/vehicle system floating on water consists of a vehicle and a manipulator attached to it. Similar to the space manipulator/vehicle system, the system on water is not fixed to an inertial coordinate system. Moreover, the external forces affect the motion of the system, and the interaction of motions among the vehicle, the manipulator and water causes vibration of the system. This paper discusses the control issues of a manipulator/vehicle system floating on water and proposes an algorithm to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. We develop the basic kinematic equations and then 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 trajectory and the vibration of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm. {\textcopyright} 1992, The Japan Society of Mechanical Engineers. All rights reserved.",

keywords = "Dynamic Control, Manipulator/Vehicle System, Nonlinear Feedback Control, Redundant Actuator, Robotics, Trajectory Control, Vibration Control",

author = "Kazuhiro Kosuge and Minoru Okuda and Hideaki Ohkubo and Toshio Fukuda and Fumihito Arai",

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].",

year = "1992",

doi = "10.1299/kikaic.58.2144",

language = "English",

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TY - JOUR

T1 - Control of Manipulator/Vehicle System on Water

AU - Kosuge, Kazuhiro

AU - Okuda, Minoru

AU - Ohkubo, Hideaki

AU - Fukuda, Toshio

AU - Arai, Fumihito

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 - The manipulator/vehicle system floating on water consists of a vehicle and a manipulator attached to it. Similar to the space manipulator/vehicle system, the system on water is not fixed to an inertial coordinate system. Moreover, the external forces affect the motion of the system, and the interaction of motions among the vehicle, the manipulator and water causes vibration of the system. This paper discusses the control issues of a manipulator/vehicle system floating on water and proposes an algorithm to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. We develop the basic kinematic equations and then 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 trajectory and the vibration of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm. © 1992, The Japan Society of Mechanical Engineers. All rights reserved.

AB - The manipulator/vehicle system floating on water consists of a vehicle and a manipulator attached to it. Similar to the space manipulator/vehicle system, the system on water is not fixed to an inertial coordinate system. Moreover, the external forces affect the motion of the system, and the interaction of motions among the vehicle, the manipulator and water causes vibration of the system. This paper discusses the control issues of a manipulator/vehicle system floating on water and proposes an algorithm to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. We develop the basic kinematic equations and then 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 trajectory and the vibration of the vehicle. Simulation results illustrate the effectiveness of the proposed control algorithm. © 1992, The Japan Society of Mechanical Engineers. All rights reserved.

KW - Dynamic Control

KW - Manipulator/Vehicle System

KW - Nonlinear Feedback Control

KW - Redundant Actuator

KW - Robotics

KW - Trajectory Control

KW - Vibration Control

UR - http://www.scopus.com/inward/record.url?scp=85008543916&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85008543916&origin=recordpage

U2 - 10.1299/kikaic.58.2144

DO - 10.1299/kikaic.58.2144

M3 - RGC 21 - Publication in refereed journal

SN - 0387-5024

VL - 58

SP - 2144

EP - 2151

JO - Transactions of the Japan Society of Mechanical Engineers Series C

JF - Transactions of the Japan Society of Mechanical Engineers Series C

IS - 551

ER -

Control of Manipulator/Vehicle System on Water

Abstract

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Research Keywords

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