Force control of a water-surface robot utilizing vehicle restoring force

被引：0
|
作者：
Kajita, H [1 ]
Kosuge, K [1 ]
机构：
[1] Tohoku Univ, Dept Machine & Syst Engn, Sendai, Miyagi 9808579, Japan
来源：
ADVANCED ROBOTICS | 1999年 / 12卷 / 06期
关键词：
force control; water-surface robot; mobile manipulator; simulator; vessel;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This paper presents a force control strategy for a water-surface robot. 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 experiments using this simulator illustrate the validity of the proposed algorithm.
引用
收藏
页码：651 / 662
页数：12
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