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Inverse Kinematics of 2-DOF Rotary Crane Systems Fixed on Two Floating Barges for Collaborative Tasks During Offshore Installation Operations
(근해 설치작업을 하는동안 협력작업이 필요한 두개의 바지에 고정되어 있는 2자유도 Rotary Crane 시스템의 역기구학)
Abstract :
This paper studies inverse kinematics to compute the joint parameters of 2-DOF rotary crane systems and the length of wire ropes that will cause a target structure to reach the desired position and orientation during collaborative tasks in offshore installation operation using two floating cranes. At first, connecting positions between wire ropes and target structure in a local coordinate system of the structure are described in a global coordinate system. The forward kinematic equations of two rotary crane systems are modeled with joint parameters of the crane systems and length of wire ropes. Inverse kinematics reverses these equations to determine the joint parameters of the crane systems making the wire ropes being perpendicular to the base or water plane. The connecting positions between wire ropes and the boom of each crane system are computed using this joint parameters, and the lengths of wire ropes considering their tensions are also computed using the balance equations of forces and moments acting on the structure and the wire ropes including gravitational forces and tensions. We consider convergence problems such as singularities, out-of-reach targets, etc. Furthermore, we also consider multiple solutions to achieve a desire pose and study how to choose an optimal one. Finally, we validate the inverse kinematics by applying it to monopile installation simulation using two floating cranes.
