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 |
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| Pages | 506-511 |
| Number of pages | 6 |
| Publication status | Published - 1996 Jan 1 |
| Event | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn Duration: 1996 Mar 18 → 1996 Mar 21 |
Other
| Other | Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) |
|---|---|
| City | Tsu, Jpn |
| Period | 96/3/18 → 96/3/21 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Computer Science Applications
- Electrical and Electronic Engineering