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

fYear

1991

fDate

11-13 Dec 1991

Firstpage

2781

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1991., Proceedings of the 30th IEEE Conference on

Conference_Location

Brighton

Print_ISBN

0-7803-0450-0

Type

conf

DOI

10.1109/CDC.1991.261864

Filename

261864