Utilization of vehicle restoring force in force control of robot floating on the water

Hisashi Kajita; Kazuhiro Kosuge

doi:10.1109/aim.1997.652985

Utilization of vehicle restoring force in force control of robot floating on the water

Hisashi Kajita
, Kazuhiro Kosuge

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

1 Citation (Scopus)

Abstract

In this research, we consider force control problem of the robot floating on the water. The control strategy we proposed reduces the number of actuators required for the force control by utilizing the restoring force/moment acting on the vehicle. The relationship between thruster outputs and the contact force/moment at the end-effector is derived taking the restoring force into account. Moreover, a simulator of the vehicle motion is developed, and the results of experiment by means of this simulator illustrate the validity of the proposed algorithm.

Original language	English
Title of host publication	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Publisher	IEEE
DOIs	https://doi.org/10.1109/aim.1997.652985
Publication status	Published - 1997
Externally published	Yes
Event	Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 - Tokyo, Jpn Duration: 16 Jun 1997 → 20 Jun 1997

Conference

Conference	Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97
City	Tokyo, Jpn
Period	16/06/97 → 20/06/97

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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title = "Utilization of vehicle restoring force in force control of robot floating on the water",

abstract = "In this research, we consider force control problem of the robot floating on the water. The control strategy we proposed reduces the number of actuators required for the force control by utilizing the restoring force/moment acting on the vehicle. The relationship between thruster outputs and the contact force/moment at the end-effector is derived taking the restoring force into account. Moreover, a simulator of the vehicle motion is developed, and the results of experiment by means of this simulator illustrate the validity of the proposed algorithm.",

author = "Hisashi Kajita 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 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97 ; Conference date: 16-06-1997 Through 20-06-1997",

year = "1997",

doi = "10.1109/aim.1997.652985",

language = "English",

booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "IEEE",

address = "United States",

}

Kajita, H & Kosuge, K 1997, Utilization of vehicle restoring force in force control of robot floating on the water. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. IEEE, Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97, Tokyo, Jpn, 16/06/97. https://doi.org/10.1109/aim.1997.652985

TY - GEN

T1 - Utilization of vehicle restoring force in force control of robot floating on the water

AU - Kajita, Hisashi

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 - 1997

Y1 - 1997

N2 - In this research, we consider force control problem of the robot floating on the water. The control strategy we proposed reduces the number of actuators required for the force control by utilizing the restoring force/moment acting on the vehicle. The relationship between thruster outputs and the contact force/moment at the end-effector is derived taking the restoring force into account. Moreover, a simulator of the vehicle motion is developed, and the results of experiment by means of this simulator illustrate the validity of the proposed algorithm.

AB - In this research, we consider force control problem of the robot floating on the water. The control strategy we proposed reduces the number of actuators required for the force control by utilizing the restoring force/moment acting on the vehicle. The relationship between thruster outputs and the contact force/moment at the end-effector is derived taking the restoring force into account. Moreover, a simulator of the vehicle motion is developed, and the results of experiment by means of this simulator illustrate the validity of the proposed algorithm.

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U2 - 10.1109/aim.1997.652985

DO - 10.1109/aim.1997.652985

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

BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

PB - IEEE

T2 - Proceedings of the 1997 1st IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM'97

Y2 - 16 June 1997 through 20 June 1997

ER -

Utilization of vehicle restoring force in force control of robot floating on the water

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