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 outputsand 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, a simulator of the vehicle motion is developed and the results of experiments using this simulatorillustrate the validity of the proposed algorithm. © VSP and Robotics Society of Japan 1999.
| Original language | English |
|---|---|
| Pages (from-to) | 651-662 |
| Journal | Advanced Robotics |
| Volume | 12 |
| Issue number | 6 |
| DOIs | |
| Publication status | Published - 1 Jan 1997 |
| 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
- Force control
- Mobile manipulator
- Simulator
- Vessel
- Water-surface robot
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