arxivcs.RO2026-07-24
Impedance Control of Ship-Borne Manipulators via Optimization-based Task-Space Inverse Dynamics
Lingxiao Meng, Bi-Ke Zhu, Xuheng Gao, Zhe Zhang, Jiankun Yang, Jiankun Wang, et al.
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…