{"title":"使用 6 自由度 Gough-Stewart 并联机器人模拟船舶振动再生系统的研究","authors":"Anh Nguyen Duc, Nguyen Quang Vinh","doi":"10.14313/jamris/2-2024/10","DOIUrl":null,"url":null,"abstract":"This article presents research results on building a model to reproduce ship vibrations based on a Parallel robot with 6 degrees of freedom Gough – Stewart form. Vibration data at the ship’s center of gravity calculated by simulation software will be the input to the model. The regenerative control system uses a simple PID controller to control input trajectory tracking. Simulation results on Matlab/Simulink software have demonstrated the reproduction of ship vibrations within the allowable error.","PeriodicalId":37910,"journal":{"name":"Journal of Automation, Mobile Robotics and Intelligent Systems","volume":"1 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2024-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Research to Simulate the Ship’s Vibration Regeneration System using a 6-Degree Freedom Gough-Stewart Parallel Robot\",\"authors\":\"Anh Nguyen Duc, Nguyen Quang Vinh\",\"doi\":\"10.14313/jamris/2-2024/10\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article presents research results on building a model to reproduce ship vibrations based on a Parallel robot with 6 degrees of freedom Gough – Stewart form. Vibration data at the ship’s center of gravity calculated by simulation software will be the input to the model. The regenerative control system uses a simple PID controller to control input trajectory tracking. Simulation results on Matlab/Simulink software have demonstrated the reproduction of ship vibrations within the allowable error.\",\"PeriodicalId\":37910,\"journal\":{\"name\":\"Journal of Automation, Mobile Robotics and Intelligent Systems\",\"volume\":\"1 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2024-06-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Automation, Mobile Robotics and Intelligent Systems\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.14313/jamris/2-2024/10\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q4\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Automation, Mobile Robotics and Intelligent Systems","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.14313/jamris/2-2024/10","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Engineering","Score":null,"Total":0}
Research to Simulate the Ship’s Vibration Regeneration System using a 6-Degree Freedom Gough-Stewart Parallel Robot
This article presents research results on building a model to reproduce ship vibrations based on a Parallel robot with 6 degrees of freedom Gough – Stewart form. Vibration data at the ship’s center of gravity calculated by simulation software will be the input to the model. The regenerative control system uses a simple PID controller to control input trajectory tracking. Simulation results on Matlab/Simulink software have demonstrated the reproduction of ship vibrations within the allowable error.
期刊介绍：
Fundamentals of automation and robotics Applied automatics Mobile robots control Distributed systems Navigation Mechatronics systems in robotics Sensors and actuators Data transmission Biomechatronics Mobile computing
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