Configuration Matrix Design of Over-Actuated Marine Systems

Huu-Tho Dang, L. Lapierre, R. Zapata, P. Lépinay, Benoit Ropars
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引用次数: 1

Abstract

This paper presents the properties and design procedure of the configuration matrix of over-actuated marine systems. Performance indices introduced in manipulator robots are extended in over-actuated marine vehicles. Moreover, two novel indices, namely reactive index and robust index, are proposed for configuration matrix design process. The problem is formulated as a multi-objective optimization problem. Simulation and preliminary experimental results show the solutions of the design process.
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船舶过度驱动系统构型矩阵设计
本文介绍了船舶超驱动系统构型矩阵的性质和设计方法。将机械臂机器人的性能指标推广到超驱动船舶中。此外,在构型矩阵设计过程中,提出了反应性指标和鲁棒性指标两个新的指标。该问题被表述为一个多目标优化问题。仿真和初步实验结果显示了设计过程的解决方案。
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