Motion planning and control of robotic manipulators on seaborne platforms

Control Engineering Practice

Volumn 19, Issue 8, 2011, Pages 809-819

  From, Pål J ^a   Gravdahl, Jan T ^a   Lillehagen, Tommy ^b   Abbeel, Pieter ^c  

^a NORWEGIAN UNIVERSITY OF SCIENCE AND TECHNOLOGY   (Norway)

^b ABB CORPORATE RESEARCH   (Norway)

^c UNIVERSITY OF CALIFORNIA   (United States)

Author keywords

Marine systems; Predictive control; Robotics; Stochastic systems

Indexed keywords

ACCURATE PREDICTION; DYNAMIC COUPLINGS; FIXED BASE; INERTIAL FORCES; MARINE SYSTEMS; PLANNING AND CONTROL; PREDICTIVE CONTROL; ROBOTIC MANIPULATORS; SHIP MOTION; WEAR AND TEAR;

EXPERIMENTS; FORECASTING; MANIPULATORS; MOTION PLANNING; ROBOTICS; ROBOTS; SHIPS;

ROBOT PROGRAMMING;

EID: 79959764777     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2011.04.007     Document Type: Article

References (25)

1. Åstrøm K.J. Computer control of a paper machine-an application of linear stochastic control theory. IBM Journal of Research and Development 1967, 7:389-396.
2. Bowling, A., & Khatib, O. (1997). Design of macro/mini manipulators for optimal dynamic performance. In: IEEE International Conference on Robotics and Automation (pp. 449-454), Albuquerque, New Mexico, USA.
3. Cannon M., Couchman P., Kouvaritakis B. MPC for stochastic systems. Assessment and Future Directions of Nonlinear Model Predictive Control 2007, 358:255-268.
4. Chung J.C., Bien Z., Kim Y.S. A note on ship-motion prediction based on wave-excitation input estimation. IEEE Journal of Oceanic Engineering 1990, 15(3):244-250.
5. Couchman P., Cannon M., Kouvaritakis B. Stochastic MPC with inequality stability constraints. Automatica 2006, 42(12):2169-2174.
6. Duindam, V., & Stramigioli, S. (2007). Lagrangian dynamics of open multibody systems with generalized holonomic and nonholonomic joints. In: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3342-3347). San Diego, CA, USA.
7. Duindam V., Stramigioli S. Singularity-free dynamic equations of open-chain mechanisms with general holonomic and nonholonomic joints. IEEE Transactions on Robotics 2008, 24(3):517-526.
8. Egeland O., Sagli J.R. Coordination of motion in a spacecraft/manipulator system. International Journal of Robotics Research 1993, 12(4):366-379.
9. From, P.J., Duindam, V., Gravdahl, J.T., & Sastry, S. (2009). Modeling and motion planning for mechanisms on a non-inertial base. In: International Conference of Robotics and Automation (pp. 3320-3326), Kobe, Japan.
10. From, P.J., Gravdahl, J.T., & Abbeel, P. (2010). On the influence of ship motion prediction accuracy on motion planning and control of robotic manipulators on seaborne platforms. In: International Conference of Robotics and Automation. Anchorage, Alaska, USA.
11. Harrison C.A., Qin S.J. Minimum variance performance map for constrained model predictive control. Journal of Process Control 2009, 19:1199-1204.
12. Kajita, H., & Kosuge, K. (1997). Force control of robot floating on the water utilizing vehicle restoring force. In: IEEE/RSJ International Conference on Intelligent Robot and Systems (Vol. 1, pp. 162-167). Grenoble, France.
13. Khan, A., Bil, C., & Marion, K.E. (2005). Ship motion prediction for launch and recovery of air vehicles. In: MTS/IEEE OCEANS (pp. 2795-2801). Washington CD, USA.
14. Kitarovic, J., Tomas, V., & Cisic, D. (2005). The electronic and informatics age-a new stage in developing highly effective ships. In: International ELMAR Symposium (pp. 385-388). Zadar, Croatia.
15. Kosuge, K., Okuda, M., & Fukuda, T. (1992). Motion control of manipulator/vehicle system floating on water. In: IEEE International Workshop on Advanced Motion Control (pp. 560-511). Nagoya, Japan.
16. Lebans, G., Wilkie, K., Dubay, R., Crabtree, D., & Edmonds, T. (1997). Telerobotic shipboard handling system. In: MTS/IEEE OCEANS (pp. 1237-1241). Halifax, Nova Scotia, Canada.
17. Love, L.J., Jansen, J.F., & Pin, F.G. (2004). On the modeling of robots operating on ships. In: IEEE International Conference on Robotics and Automation (pp. 2436-2443). New Orleans, LA, USA.
18. McMillan S., Orin D.E., McGhee R.B. Efficient dynamic simulation of an underwater vehicle with a robotic manipulator. IEEE Transactions on Systems, Man and Cybernetics 1995, 25(8):1194-1206.
19. Murray R.M., Li Z., Sastry S.S. A Mathematical Introduction to Robotic Manipulation 1994, CRC Press, Boca Raton, FL, USA.
20. Oh S.-R., Mankala K., Agrawal S., Albus J. Dynamic modeling and robust controller design of a two-stage parallel cable robot. Multibody System Dynamics 2005, 13(4):385-399.
21. Salzmann, D.C. (2007). Ampelmann prototype-developing a motion compensating platform for offshore access. In: European Wind Energy Conference. Milano, Italy.
22. Yang, X., Pota, H., Garratt, M., & Ugrinovskii, V. (2008). Prediction of vertical motions for landing operations of uavs. In: IEEE Conference on Decision and Control (pp. 5058-5063). Cancun, Mexico.
23. Yang, X., Pota, H., Garratt, M., & Ugrinovskii, V. (2008). Ship motion prediction for maritime flight operations. In: IFAC World Congress (pp. 12407-12412) Seoul, Korea.
24. Yoshikawa T., Harada K., Matsumoto A. Hybrid position/force control of flexible-macro/rigid-micro manipulator systems. IEEE Transactions on Robotics and Automation 1996, 12(4):633-640.
25. Zhang Q., Li S. Enhanced performance assessment of subspace model-based predictive controller with parameters tuning. The Canadian Journal of Chemical Engineering 2007, 85:537-548.