Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics

• URL: http://arxiv.org/abs/2607.22030v1
• Date: Fri, 24 Jul 2026 06:54:13 GMT
• Title: Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
• Abstract summary: Ship-borne manipulators are subject to wave-induced base motions that introduce disturbances and dynamic coupling.<n>This paper proposes a torque-level optimization-based control framework that integrates high-precision trajectory tracking with task-space impedance for ship-borne manipulators.
• Score: 23.54472533643259
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Ship-borne manipulators operating in maritime environments are subject to stochastic wave-induced base motions that introduce kinematic disturbances and dynamic coupling, degrading trajectory tracking accuracy and complicating safe, contact-rich manipulation. This paper proposes a torque-level optimization-based control framework that integrates high-precision trajectory tracking with task-space impedance for ship-borne manipulators. The controller is formulated using task-space inverse dynamics (TSID) and solved via quadratic programming to explicitly compensate for the dynamic coupling introduced by base motion. To enable accurate feedforward compensation, an error-state Kalman filter (ESKF) is developed to estimate the base state by fusing inertial measurements with end-effector pose feedback. The framework is validated in simulation and real-world experiments using a 7-DOF manipulator mounted on a 6-DOF Stewart platform. The proposed method reduces real-world end-effector position tracking error by over 25.7% compared with the best baseline. Furthermore, the controller enables dynamic peg-in-hole insertion with 1~mm clearance under base motion, increasing the success rate while reducing average contact forces by 45%, demonstrating precise and compliant manipulation in contact-rich environments.

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