Abstract
This chapter presents the problem definition and dynamical model formulation of an oscillatory-base manipulator considering an illustrative example, which we will work on throughout the monograph. We will consider three types of control problems, specifically attitude control in local coordinates (base-fixed coordinates) which is associated with on-board operations such as cargo handling, attitude control in global coordinates (earth-fixed coordinates), e.g., radar gimbal systems, and position control in global coordinates, e.g., heave-motion-compensated cranes. Further, as patterns of base oscillation, we consider three patterns, single-frequency sinusoidal oscillation, double-frequency sinusoidal one, and ocean-wave imitated oscillation based on the Bretschneider spectrum. Using combinations of those cases, we will demonstrate control system design and analysis, control simulations and experiments.
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© 2016 Springer International Publishing Switzerland
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Toda, M. (2016). Problem Definition, Dynamical Model Formulation. In: Robust Motion Control of Oscillatory-Base Manipulators. Lecture Notes in Control and Information Sciences, vol 463. Springer, Cham. https://doi.org/10.1007/978-3-319-21780-2_2
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DOI: https://doi.org/10.1007/978-3-319-21780-2_2
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-21779-6
Online ISBN: 978-3-319-21780-2
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