EXPLORATORY DEVELOPMENT OF SHIP MOTIONS EFFECTS ON ROBOT DYNAMICS AND EQUIPMENT LIFE

THE INTENTION IS TO INVESTIGATE THE SHIP MOTION EFFECTS ON ROBOT DYNAMICS AND EQUIPMENT LIFE. THE ON-BOARD ROBOT IS EQUIVALENT TO A STATIONARY ROBOT WITH BASE EXCITATION DUE TO SHIP MOTION. THE EXCITA-TION AT THE ROBOT BASE WILL BE MONITORED EITHER BY PLACING GYROSCOPES AND ACCELEROMETERS AT THAT POSITION, OR BY ASSUMING THE SHIP IS A RIGID BODY AND PLACING GYROSCOPES AND ACCELEROMETERS ON THE SHIP ONLY.THE BASE EXCITATION VALUES ARE USED IN DERIVING THE ROBOT DYNAMIC MODEL USING THE LAGRANGE-EULER APPROACH. THE DYNAMIC PROJECTION FUNCTIONS WILL BE FUNCTIONS OF THE PITCH, ROLL AND YAW OF THE VESSEL AT SEA. A MODEL REFERENCE ADAPTIVE CONTROL SYSTEM WILL BE DEVELOPED TO CONTROL THE ROBOT MANIPULTOR UNDER UNCERTAINTIES. A SEAKEEPING PROGRAM WILL BE USED TO DETERMINE THE FREQUENCIES AND IMPOSING FORCES ON THE ROBOT SYSTEM.