Real-time 6-DOF Vessel-to-Vessel Motion Compensation using laser tracker

Tørdal, Sondre Sanden; Pawlus, Witold; Hovland, Geir

doi:10.1109/oceanse.2017.8084756

Cited by 8 publications

(5 citation statements)

References 15 publications

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“…Sanden, Pawlus, and Hovland [21] investigated the ability of a laser tracker to measure the relative position and orientation between two mobile Stewart platforms simulating the movement of ships at sea. These ships are exposed to disturbance from waves and have cranes equipped with active compensation systems on board, which keep the cargo at a certain height from the seabed.…”

Section: Programming Of Robots Using Virtual Reality and Digital Twinsmentioning

confidence: 99%

Programming of Industrial Robots Using a Laser Tracker

Szybicki

Obal

Kurc

et al. 2022

Sensors

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This paper presents the use of a laser tracker for programming paths of industrial robots. The idea of operation, application, and the offered accuracy of the laser trackers are discussed. Then, the developed method of using a tracker for determining the path points of an industrial robot is presented. The requirements related to the developed method are indicated. The parameters of the industrial robot related to the repeatability and accuracy of the robots and the Absolute Accuracy option—increasing the accuracy—are characterized. The developed method is based on the accuracy of robots and the conversion of the position and orientation of individual coordinate systems. In the developed method, the robot is not used during programming and the programmer indicates the path points with the help of a retroreflector. The algorithm, which is the most important part of the developed method, has been implemented in the Rapid programming language to automate the programming process. This article provides an example of the use of the developed method to program the robot path during the grinding process. The advantages of the developed method are characterized and compared to existing solutions. In addition, the limitations and achieved accuracies are indicated.

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Section: Programming Of Robots Using Virtual Reality and Digital Twinsmentioning

confidence: 99%

Programming of Industrial Robots Using a Laser Tracker

Szybicki

Obal

Kurc

et al. 2022

Sensors

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“…As mentioned earlier, this could be carried out by any sensor capable of tracking all 6DOF between {c} and {p}, but the Leica laser tracker is used since it offers state-of-the-art accuracy as previously investigated in Ref. [7]. The two MRU measurement models are defined as…”

Section: Measurementmentioning

confidence: 99%

“…The type of sensor used to track all 6DOF between {c} and {p} can vary and may be based on laser technology like the one used in Ref. [7] or by using a camera vision system together with some kind of fiducial marker like the Aruco marker presented in Ref. [8] and applied in Ref.…”

Section: Introductionmentioning

confidence: 99%

Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter

T⊘rdal

Hovland

2019

Journal of Offshore Mechanics and Arctic Engineering

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In this paper, a solution for estimating the relative position and orientation between two ships in six degrees-of-freedom (6DOF) using sensor fusion and an extended Kalman filter (EKF) approach is presented. Two different sensor types, based on time-of-flight and inertial measurement principles, were combined to create a reliable and redundant estimate of the relative motion between the ships. An accurate and reliable relative motion estimate is expected to be a key enabler for future ship-to-ship operations, such as autonomous load transfer and handling. The proposed sensor fusion algorithm was tested with real sensors (two motion reference units (MRS) and a laser tracker) and an experimental setup consisting of two Stewart platforms in the Norwegian Motion Laboratory, which represents an approximate scale of 1:10 when compared to real-life ship-to-ship operations.

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“…Traditional displacement measurement methods mainly use relative measurement methods, such as laser ranging sensors and radars, and provide static reference objects for measurement based on reefs or other fixed objects in the ocean. Due to the mature technology, the traditional relative measurement method is widely used in areas with static reference systems such as offshore areas and those near ports [9,10]. However, there is no static reference system in areas of the sea far from the coast, and the measurement of ship heave displacement mainly relies on absolute measurement equipment, such as acceleration sensors and gyroscopes.…”

Section: Introductionmentioning

confidence: 99%

An Absolute Displacement Measurement Method and Its Application in Ship Motion Measurement

Han

2023

JMSE

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Due to the fact that there is no static reference point in ocean space, relative measurement sensors such as laser sensors cannot be applied to the measurement of ship motion. In order to collect the motion signal of a ship in the ocean more accurately, an absolute measurement method for the motion of a ship is proposed. Firstly, the acceleration signal in the heave direction of the ship is obtained by using an acceleration sensor; secondly, the time–frequency domain integration algorithm is used to avoid the problem of the quadratic trend item and the influence of the low-frequency signal, and the ship’s heave displacement value is obtained by integration; finally, the displacement signal measured by the laser sensor and the integrated displacement signal of the acceleration sensor are compared with each other to verify the effectiveness of the absolute measurement of the heave displacement of the ship based on the acceleration sensor. At the same time, an angle sensor is used to measure the roll angle and pitch angle in the motion of the ship, form an absolute measurement system for the motion of the ship, and verify that the measurement points are arranged on the ship, which proves that the system can collect data from the ship in sea areas far from the coast. Motion signals are more advantageous.

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Real-time 6-DOF Vessel-to-Vessel Motion Compensation using laser tracker

Cited by 8 publications

References 15 publications

Programming of Industrial Robots Using a Laser Tracker

Programming of Industrial Robots Using a Laser Tracker

Ship-to-Ship State Observer Using Sensor Fusion and the Extended Kalman Filter

An Absolute Displacement Measurement Method and Its Application in Ship Motion Measurement

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