Huu-Tho Dang, L. Lapierre, R. Zapata, P. Lépinay, Benoit Ropars
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Configuration Matrix Design of Over-Actuated Marine Systems
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.