Experimental Study of Grasp Control of a Floating Object by an Aquarobot Hand.
Shohtarou YODA, Fumio HARA · TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C · 1991
This paper deals with an experimental investigation of the control performance of an aquarobot hand at approaching and grasping a floating object in water. The fluid dynamic interaction between the manipulator motion and a floating object was formulated in the form of linear state equation, and using this formulation the error state between the robot hand position and the object was predicted for m-steps time in advance. This prediction was used to determine the feedback gain when the hand came to the region where the fluid dynamic interaction appeared between them. This prediction control showed a good reduction in the time needed to catch the floating object of about 50% compared with that in a conventional PD Control.