Simulation of vessel oscillation using parallel robot

Authors

  • Military Technical Academy image/svg+xml , Học viện Kỹ thuật quân sự
  • Military Technical Academy image/svg+xml , Học viện Kỹ thuật quân sự
  • Military Technical Academy image/svg+xml , Học viện Kỹ thuật quân sự
  • Trung Kiên Trần Institute of Military Technical Automation, Academy of Military Science and Technology , Viện Tự động hóa Kỹ thuật quân sự, Viện Khoa học và Công nghệ quân sự
  • Military Technical Academy image/svg+xml , Học viện Kỹ thuật quân sự

Keywords

Parallel robots; Kinematics; Reproducing the ship's oscillations; Oscillation simulation.

DOI:

https://doi.org/10.54939/1859-1043.j.mst.80.2022.156-167

Abstract

This paper presents the research results of building a model for reproducing the vessel's oscillations based on a Gough - Stewart parallel robot with 6 degrees. Oscillation data at the vessel's center of gravity calculated by simulation software will be input to the model. The control system uses a simple PID controller to track the input trajectory. The simulation results on Matlab/Simulink software have shown the reproducing of vessel oscillations with the allowed error.

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Published

2022-06-28

Issue

No. 80 (2022)

Section

Research Articles