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Journal of Marine Science and Engineering · 2023 · Vol. 11 · Issue 4 · MDPI
In this paper, to effectively solve the joint motion planning of a nine-DOF redundant hybrid boarding system in the process of ocean wave active compensation, we present a multi-task motion planning (MTMP) method for the redundant hybrid boarding system. First, the hybrid mechanism is disassembled into a six-DOF parallel mechanism and a three-DOF serial mechanism for kinematic analysis separately to obtain the Jacobian matrix...