Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force

Kazuhiro Kosuge; Hisashi Kajita; Toshio Fukuda

doi:10.1109/amc.1996.509300

Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force

Kazuhiro Kosuge
, Hisashi Kajita
, Toshio Fukuda

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

2 Citations (Scopus)

Abstract

This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. We derive the relation between thruster outputs and the endpoint force/moment based on the kinematics and the dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. We design a velocity-based control algorithm and illustrate the validity of the proposed algorithm by simulation.

Original language	English
Title of host publication	International Workshop on Advanced Motion Control, AMC
Publisher	IEEE
Pages	506-511
Volume	2
DOIs	https://doi.org/10.1109/amc.1996.509300
Publication status	Published - 1996
Externally published	Yes
Event	Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: 18 Mar 1996 → 21 Mar 1996

Conference

Conference	Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
City	Tsu, Jpn
Period	18/03/96 → 21/03/96

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{7f0b75459333480f90427041e285bd39,

title = "Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force",

abstract = "This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. We derive the relation between thruster outputs and the endpoint force/moment based on the kinematics and the dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. We design a velocity-based control algorithm and illustrate the validity of the proposed algorithm by simulation.",

author = "Kazuhiro Kosuge and Hisashi Kajita and Toshio Fukuda",

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 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) ; Conference date: 18-03-1996 Through 21-03-1996",

year = "1996",

doi = "10.1109/amc.1996.509300",

language = "English",

volume = "2",

pages = "506--511",

booktitle = "International Workshop on Advanced Motion Control, AMC",

publisher = "IEEE",

address = "United States",

}

Kosuge, K, Kajita, H & Fukuda, T 1996, Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force. in International Workshop on Advanced Motion Control, AMC. vol. 2, IEEE, pp. 506-511, Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, 18/03/96. https://doi.org/10.1109/amc.1996.509300

Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force. / Kosuge, Kazuhiro; Kajita, Hisashi; Fukuda, Toshio.
International Workshop on Advanced Motion Control, AMC. Vol. 2 IEEE, 1996. p. 506-511.

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

TY - GEN

T1 - Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force

AU - Kosuge, Kazuhiro

AU - Kajita, Hisashi

AU - Fukuda, Toshio

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 - 1996

Y1 - 1996

N2 - This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. We derive the relation between thruster outputs and the endpoint force/moment based on the kinematics and the dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. We design a velocity-based control algorithm and illustrate the validity of the proposed algorithm by simulation.

AB - This paper presents a force control strategy for a manipulator/vehicle system floating on the water. The control strategy reduces the number of actuators required for the force control by utilizing the restoring force/moment applied to the vehicle. We derive the relation between thruster outputs and the endpoint force/moment based on the kinematics and the dynamics of the system taking the restoring force into account. Using this relation, we calculate the realizable force/moment at the endpoint. We design a velocity-based control algorithm and illustrate the validity of the proposed algorithm by simulation.

UR - http://www.scopus.com/inward/record.url?scp=0029717939&partnerID=8YFLogxK

UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-0029717939&origin=recordpage

U2 - 10.1109/amc.1996.509300

DO - 10.1109/amc.1996.509300

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

VL - 2

SP - 506

EP - 511

BT - International Workshop on Advanced Motion Control, AMC

PB - IEEE

T2 - Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)

Y2 - 18 March 1996 through 21 March 1996

ER -

Force control of manipulator/vehicle system floating on the water utilizing vehicle restoring force

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