Analysis and Design of Manipulator/Vehicle System on Water Based on Translatability and Rotatability

Kazuhiro Kosuge, Minoru Okuda, Toshio Fukuda

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


This paper discusses design issues of a manipulator/vehicle system floating on water, which consists of a vehicle controlled by thrusters and a manipulator mounted on it. The design of the system is very important for the control of such a system, because the controllability of the system is largely affected by the design of the system. In this paper, we propose a method to design the location of thrusters based on the concept of Translatability and Rotatability of the vehicle by actuators. The translatability (rotatability) of the vehicle represents the relationship between the output forces of thrusters and the equivalent force (moment) evaluated at the centroid of the vehicle. We first derive the relationship and then reveal that the equivalent force (moment) forms an ellipsoid. The method is natural in the sense that the force and the moment, which have dfferent dimensions, are dealt with independently. Examples illustrate the effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)2162-2168
Number of pages7
Journaltransactions of the japan society of mechanical engineers series c
Issue number563
Publication statusPublished - 1993 Jan 1
Externally publishedYes


  • Eigenvalue Problem
  • Ellipsoid
  • Manipulator/Vehicle System
  • Robotics
  • Rotatability
  • Thruster Location
  • Translatability

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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