Kinematics modeling and workspace analysis of large offshore trestle based on wave compensation

Abstract

Abstract Referring to the modeling method of the series manipulator, the D-H parameter method is used to model the kinematics of the large-scale offshore trestle, and the forward kinematics equation of the offshore trestle is calculated, and the algebraic method is used to solve the inverse kinematics. At the same time, using the robotics toolbox in Matlab to verify the feasibility of the D-H parameter method modeling and the correctness of the forward and inverse solutions of the kinematics equation, and using the Monte Carlo method to analyze the working space of the offshore trestle in Matlab, finally, the motion of the offshore trestle is wave compensated. It provides a theoretical basis for the kinematics modeling, workspace analysis and control system design of large-scale offshore trestle.