Study of six-degree-of-freedom wave characteristics simulator based on admittance control

Yuntong Chen; Siyi Lu

doi:10.1117/12.2684879

19 October 2023 Study of six-degree-of-freedom wave characteristics simulator based on admittance control

Yuntong Chen, Siyi Lu

Proceedings Volume 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023); 127093M (2023) https://doi.org/10.1117/12.2684879
Event: Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 2023, Nanjing, China

Abstract

In this paper, a simulation method of the stiffness-damping characteristics of waves is proposed through the study of the admittance control. Firstly, a traditional six-degree-of-freedom Stewart structure is used to build a wave characteristics simulator, and numerical simulation software is used to build the wave characteristics simulator dynamics model and control framework. Secondly, the admittance control algorithm is introduced into the six-degree-of-freedom positional control to realize the passive motion simulation of the sea target after being collided. The paper focuses on the analysis and simulation verification of the stiffness-damping characteristics of the target in the vertical sea level direction and horizontal sea level direction. Finally, the study proves that the wave characteristics simulator with the admittance control algorithm can simulate the motion of the target on the waves more realistically.

Citation Download Citation

Yuntong Chen and Siyi Lu "Study of six-degree-of-freedom wave characteristics simulator based on admittance control", Proc. SPIE 12709, Fourth International Conference on Artificial Intelligence and Electromechanical Automation (AIEA 2023), 127093M (19 October 2023); https://doi.org/10.1117/12.2684879

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