Title :
Control of manipulator/vehicle system floating on the water
Author :
Kosuge, Kazuhiro ; Fukuda, Toshio ; Ohkubo, Hideaki
Author_Institution :
Dept. of Mech. Eng., Nagoya Univ., Japan
Abstract :
The authors discuss the control issues of manipulator/vehicle systems floating on the water and propose algorithms to control both the endpoint trajectory of the manipulator and the vibration of the vehicle simultaneously using redundant actuators. They develop the basic kinematic equations and then derive an equation which describes the dynamic relation between the system and the external forces/moments applied to it. Two types of control algorithms are derived: (1) manipulator trajectory control with passive vibration control, and (2) the simultaneous control of the manipulator trajectory and the vehicle vibration. Simulation results illustrate the effectiveness of the proposed control algorithm
Keywords :
kinematics; manipulators; marine systems; position control; vibration control; endpoint trajectory control; floating; kinematic equations; manipulator/vehicle system; marine systems; passive vibration control; position control; water; Actuators; Control systems; Equations; Kinematics; Manipulator dynamics; Marine vehicles; Orbital robotics; Space technology; Space vehicles; Vehicle dynamics; Vibration control;
Conference_Titel :
Decision and Control, 1991., Proceedings of the 30th IEEE Conference on
Conference_Location :
Brighton
Print_ISBN :
0-7803-0450-0
DOI :
10.1109/CDC.1991.261864
