Configuration Matrix Design of Over-Actuated Marine Systems
Conception de matrice de configuration de systèmes marins suractivés
Résumé
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.
Domaines
Robotique [cs.RO]| Origine | Fichiers produits par l'(les) auteur(s) |
|---|