自己回帰モデルを用いた動揺安定台に関する研究-I

抄録

This paper proposes the roll and pitch stabilization control systems which use a Stewart platform to realize an artificial plane. The Stewart platform is consisted of six-axis parallel robot manipulators with powerful force/torque output, high speed and high accuracy. In this stabilizer, the inverse kinematic solutions computed from predictive auto regressive model of object ship are given as input signal to each robot manipulators. In this paper, one simulator using the actual Stewart platform is built in the laboratory and confirmed that an artificial horizontal plane to stabilize roll and pitch motions of a small training ship can be realized.