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Offshore operations are easily disturbed by wind, waves, which largely affect the efficiency of offshore operations and the safety of operators. This was the starting point for building a two-layer Stewart structure motion compensation experimental bench in a laboratory environment. In this system, the lower motion simulation system is used to simulate surge motion, and the upper motion compensation system is used to study a multi-degree-of-freedom nonlinear motion compensation method. First, the variation characteristics of the end attitude of the motion compensation system under the surge motion was analyzed, and a kinematics model of the end position of the motion compensation system in the global coordinate system was established by using the chi-squared transformation method. Then, based on the inverse kinematics, a real-time compensation algorithm of the end position of the motion compensation system was proposed. Finally, the compensation algorithm was experimentally verified, and the experimental results showed that the compensation rate was greater than 98%.

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Research on Robot End Position Variations and Active Motion Compensation Framework on Offshore Platform

  • 会议论文

  • 发表日期：

    2025年

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  • Donglong Huang,
  • Ning Chen,
  • Shichao Hao,
  • Shutian Zhang,
  • Xiaochuan Lin

摘要

Offshore operations are easily disturbed by wind, waves, which largely affect the efficiency of offshore operations and the safety of operators. This was the starting point for building a two-layer Stewart structure motion compensation experimental bench in a laboratory environment. In this system, the lower motion simulation system is used to simulate surge motion, and the upper motion compensation system is used to study a multi-degree-of-freedom nonlinear motion compensation method. First, the variation characteristics of the end attitude of the motion compensation system under the surge motion was analyzed, and a kinematics model of the end position of the motion compensation system in the global coordinate system was established by using the chi-squared transformation method. Then, based on the inverse kinematics, a real-time compensation algorithm of the end position of the motion compensation system was proposed. Finally, the compensation algorithm was experimentally verified, and the experimental results showed that the compensation rate was greater than 98%.