Huu-Tho Dang, L. Lapierre, R. Zapata, P. Lépinay, Benoit Ropars
{"title":"Configuration Matrix Design of Over-Actuated Marine Systems","authors":"Huu-Tho Dang, L. Lapierre, R. Zapata, P. Lépinay, Benoit Ropars","doi":"10.1109/OCEANSE.2019.8867445","DOIUrl":null,"url":null,"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.","PeriodicalId":375793,"journal":{"name":"OCEANS 2019 - Marseille","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-06-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"1","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"OCEANS 2019 - Marseille","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/OCEANSE.2019.8867445","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
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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