Magnus B. Kjelland

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In this paper, theoretical and experimental implementation of heave compensation on a redundant hydraulically actuated manipulator with 3-dof has been carried out. The redundancy is solved using the pseudo-inverse Jacobian method. Techniques for minimizing velocities and avoiding mechanical joint saturations is implemented in the null space joint motion.(More)
The current work is on motion control of a hydraulically actuated manipulator with a view to handle offshore payload transfer between moving frames. The manipulator has redundant actuation and also, a non-actuated degree of freedom. The motion control has two targets: tool point control and compensation of the non-actuated degree of freedom. The redundancy(More)
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