Ocean Wave Active Compensation Analysis for Redundant Hybrid Boarding System: A Multi-Task Motion Planning Method

In this paper, to effectively solve the joint motion planning of a nine-DOF redundant hybrid boarding system in process ocean wave active compensation, we present multi-task (MTMP) method for system. First, mechanism is disassembled into six-DOF parallel and three-DOF serial kinematic analysis separately obtain Jacobian matrix task space. Then, according configuration characteristics avoid defects pseudo-inverse weighted methods planning, several secondary tasks are proposed constrain mechanism. Based on simulations comparisons, results show that MTMP solves problems limitation, reverse overlap divergence with time method. Meanwhile, has more superiority margin compensation space range.