Robotic Manipulators Mounted on a Forced Non-inertial Base

  • Pål Johan From
  • Jan Tommy Gravdahl
  • Kristin Ytterstad Pettersen
Part of the Advances in Industrial Control book series (AIC)


As other vehicles, such as airplanes and cars, ships are also believed to become partially or completely unmanned in the next decade or so. This calls for more automation and increased use of robots for monitoring, surveillance, and operation of these ships.

Ships are influenced by waves, ocean currents, and wind. In particular the wave forces make the ship move with a high-frequency motion which will affect the dynamics of any robot that is mounted on the ship. In this chapter we show how the motion of the ship adds non-inertial forces to the robot dynamics. These forces need to be considered in order to obtain accurate mathematical models and robust control laws. We study how to accurately and efficiently control robotic manipulators when non-inertial forces enter the manipulator dynamics.


Inertial Force Inertial Frame Robotic Manipulator Stewart Platform Gravity Compensation 
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Copyright information

© Springer-Verlag London 2014

Authors and Affiliations

  • Pål Johan From
    • 1
  • Jan Tommy Gravdahl
    • 2
  • Kristin Ytterstad Pettersen
    • 2
  1. 1.Department of Mathematical Sciences and TechnologyNorwegian University of Life SciencesÅsNorway
  2. 2.Department of Engineering CyberneticsNorwegian Univ. of Science & TechnologyTrondheimNorway

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