Numerical investigation of the effect of ocean depth variations on the dynamics of a ship mounted two-DoF manipulator system

Mohamad Luthfi Ramadiansyah, Edwar Yazid, Cheng Yee Ng

Abstract

The dynamics of a ship need to be considered in the development of a manipulator system that will be applied to the ocean-based operation. This paper aims to investigate the effect of ocean depth variations on the ship motion as disturbances to a ship-mounted two-DoF (Degrees of Freedom) manipulator joint torque using an inverse dynamics model. Realization is conducted by deriving the mathematical model of a two-DoF manipulator system subject to six-DoF ship motion, which is derived by using Lagrange-Euler method. It is then combined with numerical hydrodynamic simulation to obtain the ship motions under ocean depth variations, such as shallow (50 m), intermediate (750 m), and deep (3,000 m) waters. Finding results show that randomness of the ship motions appears on the manipulator joint torque. In the azimuth link, maximum joint torque is found in shallow water depth with an increment of 8.271 N.m (285.69 %) from the undisturbed manipulator. Meanwhile, the maximum joint torque of the elevation link is found in intermediate water depth with an increment of 53.321 N.m (6.63 %). However, the difference between depth variations is relatively small. This result can be used as a baseline for sizing the electrical motor and developing the robust control system for the manipulator that is mounted on the ship by considering all ocean depth conditions.

10.14203/j.mev.2022.v13.113-124


Keywords


two-DoF manipulator; inverse dynamics; ship motion; ocean depth; hydrodynamic response.

Full Text:

PDF


References


T. Lauß, S. Oberpeilsteiner, K. Sherif, and W. Steiner, “Inverse dynamics of an industrial robot using motion constraints,” in 2019 20th International Conference on Research and Education in Mechatronics (REM), pp. 1-7, 2019.

N. Ramadhan, N. Lilansa, A. Rifa’i, and H. Nguyen, “Pattern recognition based movement control and gripping forces control system on arm robot model using LabVIEW,” Journal of Mechatronics, Electrical Power, and Vehicular Technology, vol. 13, no. 1, pp. 1–14, 2022.

S. K. Deb, J. H. Rokky, T. C. Mallick, and J. Shetara, “Design and construction of an underwater robot,” in 2017 4th International Conference on Advances in Electrical Engineering (ICAEE), pp. 281–284, 2017.

Y. Zhao et al., “A vehicle handling inverse dynamics method for emergency avoidance path tracking based on adaptive inverse control,” IEEE Trans Veh Technol, vol. 70, no. 6, pp. 5470–5482, 2021.

M. Reza Chalak Qazani, H. Asadi, S. Mohamed, S. Nahavandi, J. Winter, and K. Rosario, “A Real-Time Motion Control Tracking Mechanism for Satellite Tracking Antenna Using Serial Robot,” in 2021 IEEE International Conference on Systems, Man, and Cybernetics (SMC), pp. 1049–1055, 2021.

K. Kaneko et al., “Humanoid Robot HRP-5P: An electrically actuated humanoid robot with high-power and wide-range joints,” IEEE Robot Autom Lett, vol. 4, no. 2, pp. 1431–1438, 2019.

Z. Huang, X. Jiang, H. Liu, X. Chen, T. Fukuda, and Q. Huang, “Design of crawling motion for a biped walking humanoid with 3-DoF rigid-flexible waist,” in 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), pp. 974–979, 2018.

F. Tavassolian, H. Khotanlou, and P. Varshovi-Jaghargh, “Forward kinematics analysis of a 3-PRR planer parallel robot using a combined method based on the neural network,” in 2018 8th International Conference on Computer and Knowledge Engineering (ICCKE), pp. 320–325, 2018.

W. Dewandhana, K. I. Apriandy, B. S. B. Dewantara, and D. Pramadihanto, “Forward kinematics with full-arm analysis on ‘T-FLoW’ 3.0 Humanoid Robot,” in 2021 International Electronics Symposium (IES), pp. 356–361, 2021.

D. Kusmenko and K. Schmidt, “Development of an analytical inverse kinematics for a 5 DOF manipulator,” in 2020 21st International Conference on Research and Education in Mechatronics (REM), pp. 1–5, 2020.

P. Chen, J. Long, W. Yang, and J. Leng, “Inverse kinematics solution of underwater manipulator based on Jacobi matrix,” in OCEANS 2021: San Diego – Porto, pp. 1–4, 2021.

M. F. Amundsen, J. Sverdrup-Thygeson, E. Kelasidi, and K. Y. Pettersen, “Inverse kinematic control of a free-floating underwater manipulator using the generalized Jacobian matrix,” in 2018 European Control Conference (ECC), pp. 276–281, 2018.

A. S. Polydoros, E. Boukas, and L. Nalpantidis, “Online multi-target learning of inverse dynamics models for computed-torque control of compliant manipulators,” in 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4716–4722, 2017.

A. Awatef and B. H. Mouna, “Dynamic modeling and inverse dynamic control of mobile robot,” in 2017 International Conference on Green Energy Conversion Systems (GECS), pp. 1–5, 2017.

F. Crenna and G. B. Rossi, “Measurement uncertainty evaluation in biomechanical inverse dynamics analysis,” in 2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), pp. 1–5, 2020.

E. Farah and L. Shaogang, “An efficient approach for manipulator robot dynamics modeling,” in 2018 International Conference on Computer, Control, Electrical, and Electronics Engineering (ICCCEEE), pp. 1–5, 2018.

A. Müller, “Recursive second-order inverse dynamics for serial manipulators,” in 2017 IEEE International Conference on Robotics and Automation (ICRA), pp. 2483–2489, 2017.

B. Wei, Y. Li, Y. Zhang, Y. Li, and S. Shu, “Dynamic modeling of mobile manipulator based on floating-like base,” in 2022 IEEE 6th Information Technology and Mechatronics Engineering Conference (ITOEC), vol. 6, pp. 993–998, 2022.

R. Szász, M. Allenspach, M. Han, M. Tognon, and R. K. Katzschmann, “Modeling and control of an omnidirectional micro aerial vehicle equipped with a soft robotic arm,” in 2022 IEEE 5th International Conference on Soft Robotics (RoboSoft), pp. 1–8, 2022.

Y. Cai, S. Zheng, W. Liu, Z. Qu, and J. Han, “Model analysis and modified control method of ship-mounted stewart platforms for wave compensation,” IEEE Access, vol. 9, pp. 4505–4517, 2021.

W. Lv, L. Tao, and Z. Ji, “Design and control of cable-drive parallel robot with 6-dof active wave compensation,” in 2017 3rd International Conference on Control, Automation and Robotics (ICCAR), pp. 129–133, 2017.

X. Huang, J. Wang, Y. Xu, Y. Zhu, T. Tang, and F. Xu, “Dynamic modeling and analysis of wave compensation system based on floating crane in smart port,” in 2018 International Symposium in Sensing and Instrumentation in IoT Era (ISSI), pp. 1–5, 2018.

Y. Qian and Y. Fang, “Dynamics analysis of an offshore ship-mounted crane subject to sea wave disturbances,” in 2016 12th World Congress on Intelligent Control and Automation (WCICA), pp. 1251–1256, 2016.

E. Yazid, A. S. Nugraha, H. M. Saputra, and Rahmat, “Dynamics of a ship-mounted two-DoF manipulator case: effect of sea state to the manipulator joint torque,” in 2019 IEEE International Conference on Industry 4.0, Artificial Intelligence, and Communications Technology (IAICT), pp. 1–6, 2019.

M. O. Ahmed, A. Yenduri, and V. J. Kurian, “Evaluation of the dynamic responses of truss spar platforms for various mooring configurations with damaged lines,” Ocean Engineering, vol. 123, pp. 411–421, 2016.

Y. Cai, S. Zheng, W. Liu, Z. Qu, and J. Han, “Model analysis and modified control method of ship-mounted stewart platforms for wave compensation,” IEEE Access, vol. 9, pp. 4505–4517, 2021.

J. Yue, “Kinematic modelling and simulation of LeArm robot,” in 2022 6th International Conference on Robotics, Control and Automation (ICRCA), pp. 1–6, 2022.

E. Yazid, R. Ristiana, M. Mirdanies, R. A. Ardiansyah, R. Rahmat, and Y. Sulaeman, “Sizing the mechanical and electrical performances of a two-DoF manipulator design taking into account PMSM type three-phase AC servo motor,” in 2021 International Conference on Computer Science and Engineering (IC2SE), vol. 1, pp. 1–9, 2021.

S. Son, “Design of ocean platforms against ringing response,” Master of Science Thesis in Mechanical Engineering, Texas Tech University, 2006.

P. Webb, “Introduction to oceanography,” Roger Williams University, Aug. 2021. [accessed: Aug. 20, 2022].

E. Yazid, M. Mirdanie, R. A. Ardiansyah, Rahmat, R. Ristiana, and Y. Sulaeman, “Inverse kinematics model for a ship mounted two-DoF manipulator system,” in 2021 IEEE Ocean Engineering Technology and Innovation Conference: Ocean Observation, Technology and Innovation in Support of Ocean Decade of Science (OETIC), pp. 50–56, 2021.

R. D. Fernandes and R. Sundaravadivelu, “Hydrodynamic response of floating pontoon for seaplane operation,” in OCEANS 2022 - Chennai, pp. 1–10, 2022.


Article Metrics

Metrics Loading ...

Metrics powered by PLOS ALM

Refbacks

  • There are currently no refbacks.


Bookmark and Share


Copyright (c) 2022 Journal of Mechatronics, Electrical Power, and Vehicular Technology

Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.