Abstract
This paper presents a force control strategy for a robot floating on the water. 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 outputs and 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 experiment by means of this simulator illustrate the validity of the proposed algorithm.
| Original language | English |
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| Pages | 162-167 |
| Number of pages | 6 |
| Publication status | Published - 1997 Dec 1 |
| Event | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) - Grenoble, Fr Duration: 1997 Sept 7 → 1997 Sept 11 |
Other
| Other | Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 1 (of 3) |
|---|---|
| City | Grenoble, Fr |
| Period | 97/9/7 → 97/9/11 |
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Computer Vision and Pattern Recognition
- Computer Science Applications