Simulation of vessel oscillation using parallel robot
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https://doi.org/10.54939/1859-1043.j.mst.80.2022.156-167Keywords:
Parallel robots; Kinematics; Reproducing the ship's oscillations; Oscillation simulation.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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