“The Norwegian Motion-Laboratory”

Authors: Sondre Sanden Tørdal, Jan Thomas Olsen and Geir Hovland,
Affiliation: University of Agder
Reference: 2018, Vol 39, No 3, pp. 191-208.

Keywords: Motion Compensation, Qualisys, Leica, Bosch-Rexroth, Comau, Robotics, Mechatronics, Lab Setup, Experiments, and Stewart Platforms

Abstract: This paper contains an overview of the equipment currently available in the Norwegian Motion Laboratory, a description of the IT networking infrastructure in the laboratory, a GitHub link to open source code developed, description of the PyQt-based graphical user interface, presentation of robot forward and inverse kinematics, presentation of equations of motion for the suspended load motion and a description of the full system kinematics. The paper ends with a list of research experiments and publications from the laboratory to date.

PDF PDF (5266 Kb)        DOI: 10.4173/mic.2018.3.5

References:
[1] Beckhoff. (2018). Beckhoff, Basic CPU Module. URL: https://www.beckhoff.com/CX2040/, 2018. Visited on Jul. 16. .
[2] Beckhoff. (2018). Beckhoff, Beckhoff CX2040. URL: https://www.beckhoff.com/english.asp?embedded_pc/cx2040.htm, 2018. Visited on Aug. 17. .
[3] Beckhoff. (2018). Beckhoff, Beckhoff Information System ADS. URL: https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_c/9007200630561931.html&id=, 2018. Visited on Jul. 16. .
[4] Beckhoff. (2018). Beckhoff, Beckhoff Information System TwinCAT 3. URL: http://www.beckhoff.com/english.asp?twincat/twincat-3-extended-automation-runtime.htm, 2018. Visited on Jul. 16. .
[5] Beckhoff. (2018). Beckhoff, Beckhoff Information System TwinCAT 3 XAR. URL: http://www.beckhoff.com/english.asp?twincat/twincat-3-extended-automation-runtime.htm?id=1893323218933308, 2018. Visited on Jul. 16. .
[6] Beckhoff. (2018). Beckhoff, Digital Compact Servo Drives. URL: https://www.beckhoff.com/ax51xx/, 2018. Visited on Jul. 16. .
[7] Beckhoff. (2018). Beckhoff, Servomotor. URL: https://www.beckhoff.com/am8532/, 2018. Visited on Jul. 16. .
[8] Comau Robotics. (2018). Comau Robotics, Nj 110-3.0. URL: http://www.comau.com/EN/our-competences/robotics/robot-team/nj-110-30, 2018. Visited on Jul. 16. .
[9] Denavit, J. and Hartenberg, R.S. (1955). Denavit, J, and Hartenberg, R.S. A kinematic notation for lower-pair mechanisms based on matrices. Trans ASME J. Appl. Mech. 23:215--221. .
[10] Fossen, T.I. (2011). Fossen, T, I. Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley. .
[11] Gustafsson, T. (1993). Gustafsson, T, Modelling and Control of Offshore Crane Systems. Ph.D. thesis, Luleaa University of Technology. .
[12] Hartenberg, R.S. and Denavit, J. (1964). Hartenberg, R, S. and Denavit, J. Kinematic synthesis of linkages. McGraw-Hill. .
[13] Heng, O. and Tordal, S.S. (2017). Heng, O, and Tordal, S.S. Calibration of the norwegian motion laboratory using conformal geometric algebra. In CGI. 2017. .
[14] Hexagon Manufacturing Intelligence. (2018). Hexagon Manufacturing Intelligence, Leica Absolute Tracker AT960. URL: http://www.hexagonmi.com/en-IN/products/laser-tracker-systems/, Visited on Jul. 16. .
[15] Kjelland, M.B. (2016). Kjelland, M, B. Offshore Wind Turbine Access Using Knuckle Boom Cranes. Ph.D. thesis, University of Agder, Grimstad, Norway. .
[16] Kongsberg Seatex. (2018). Kongsberg Seatex, Kongsberg Seatex Motion Reference Unit. URL: https://www.km.kongsberg.com/. Visited on Jul. 16. .
[17] Luxcey, N., Reinholdtsen, S.-A., Sauder, T., Fouques, S., Jin, J., Kauczynski, W., and Hovland, G. (2014). Luxcey, N, , Reinholdtsen, S.-A., Sauder, T., Fouques, S., Jin, J., Kauczynski, W., and Hovland, G. Influence of wave-induced skid motions on the launch of free-fall skid lifeboats from floating hosts: Experimental and numerical investigations. 2014. doi:10.1115/OMAE2014-24644
[18] Norwegian Motion Laboratory. (2018). Norwegian Motion Laboratory, URL: https://www.motion-lab.no/. Visited on Jul. 16. .
[19] Norwegian Research Council. (2016). Norwegian Research Council, Norwegian Roadmap for Research Infrastructure. URL: https://www.forskningsradet.no/prognett-infrastruktur/Norwegian_Roadmap_for_Research_Infrastructure/1253976312605, 2016. Visited on Aug. 17, 2018. .
[20] Qualisys. (2018). Qualisys, Qualisys. URL: https://www.qualisys.com/. Visited on Jul. 16. .
[21] Riverbank Computing Limited. (2018). Riverbank Computing Limited, Python PyQt5. URL: https://pypi.python.org/pypi/PyQt5/5.9.1. Visited on Jul. 27. .
[22] Siciliano, B., Sciavicco, L., Villani, L., and Oriolo, G. (2010). Siciliano, B, , Sciavicco, L., Villani, L., and Oriolo, G. Robotics: Modelling, Planning and Control. Advanced Textbooks in Control and Signal Processing. Springer London, 2010. doi:10.1007/978-1-84628-642-1
[23] Spong, M., Hutchinson, S., and Vidyasagar, M. (2005). Spong, M, , Hutchinson, S., and Vidyasagar, M. Robot Modeling and Control. Wiley. doi:10.1108/ir.2006.33.5.403.1
[24] Tordal, S.S. and Hovland, G. (2017). Tordal, S, S. and Hovland, G. Inverse kinematic control of an industrial robot used in vessel-to-vessel motion compensation. In 2017 25th Mediterranean Conference on Control and Automation (MED). pages 1392--1397, 2017. doi:10.1109/MED.2017.7984313
[25] Tordal, S.S. and Hovland, G. (2017). Tordal, S, S. and Hovland, G. Relative Vessel Motion Tracking using Sensor Fusion, Aruco Markers, and MRU Sensors. Modeling, Identification and Control, 2017. 38(2):79--93. doi:10.4173/mic.2017.2.3
[26] Tordal, S.S., Hovland, G., and Tyapin, I. (2017). Tordal, S, S., Hovland, G., and Tyapin, I. Efficient implementation of inverse kinematics on a 6-dof industrial robot using conformal geometric algebra. Advances in Applied Clifford Algebras, 2017. 27(3):2067--2082. doi:10.1007/s00006-016-0698-2
[27] Tordal, S.S., Lovsland, P.-O., and Hovland, G. (2016). Tordal, S, S., Lovsland, P.-O., and Hovland, G. Testing of wireless sensor performance in vessel-to-vessel motion compensation. In Ind. Elec. Soc., IEEE IECON 2016-42nd Ann. Conf. pages 654--659. doi:10.1109/IECON.2016.7793951
[28] Tordal, S.S., Pawlus, W., and Hovland, G. (2017). Tordal, S, S., Pawlus, W., and Hovland, G. Real-time 6-dof vessel-to-vessel motion compensation using laser tracker. In OCEANS 2017 - Aberdeen. pages 1--9, 2017. doi:10.1109/OCEANSE.2017.8084756


BibTeX:
@article{MIC-2018-3-5,
  title={{The Norwegian Motion-Laboratory}},
  author={Tørdal, Sondre Sanden and Olsen, Jan Thomas and Hovland, Geir},
  journal={Modeling, Identification and Control},
  volume={39},
  number={3},
  pages={191--208},
  year={2018},
  doi={10.4173/mic.2018.3.5},
  publisher={Norwegian Society of Automatic Control}
};