| Title: | OS20-5 Simulation of Horizontal Vibration Suppression of a Suspended Structure for Seabed Mining |
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| Publication: | ICAROB2018 |
| Volume: | 23 |
| Pages: | 740-743 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2018.OS20-5 |
| Author(s): | Keisuke Watanabe, Kazuo Ishii |
| Publication Date: | February 2, 2018 |
| Keywords: | subsea mining, installation of subsea machines, control of suspended structure |
| Abstract: | In a project of subsea mining in the near future, many work class robots such as crawlers, drilling machines, or ore collectors will be installed on the seabed. These robots are heavy but they must be landed on the seabed very softly to avoid impact damage from the seabed. So the installation method is very important and effective installation method should be investigated. In this paper, we examined vibration motion of a suspended heavy machine by a crane vessel through dynamics modeling and simulation in the horizontal plane. Descending speed of the machine affects the amplitude of the vibration, that is, if the descending speed is higher, larger amplitude will be observed. To suppress this vibration, we examined a velocity feedback control by attaching a thruster to the machine. From simulation results, we found horizontal vibration will be effectively suppressed by using simple feedback control. |
| PDF File: | https://alife-robotics.co.jp/members2018/icarob/data/html/data/OS_pdf/OS20/OS20-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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