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Conference Papers Year : 2019

Configuration Matrix Design of Over-Actuated Marine Systems

Conception de matrice de configuration de systèmes marins suractivés

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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Dates and versions

hal-02129591 , version 1 (15-05-2019)

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Huu-Tho Dang, Lionel Lapierre, René Zapata, Pascal Lepinay, Benoît Ropars. Configuration Matrix Design of Over-Actuated Marine Systems. OCEANS 2019, Jun 2019, Marseille, France. ⟨10.1109/OCEANSE.2019.8867445⟩. ⟨hal-02129591⟩
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