Robotic Manipulators Mounted on a Forced Non-inertial Base
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.
KeywordsInertial Force Inertial Frame Robotic Manipulator Stewart Platform Gravity Compensation
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