Virtual simulation study of shipborne manipulator based on CMAC control

The shipborne manipulator studied in this paper is a new foldaway crane system with retractable arms working on ships and controlled by the drive of its hydraulic system. A visual simulation system for this shipborne manipulator with virtual reality (VR) completed by OpenGL is studied and put up with based on the synthetical research of the characteristics and work condition for this kind of shipborne manipulator. The main characteristics of structure and functions of the simulation system are also presented. The intelligent controller based on CMAC (Cerebellar Model Articulation Controller) is described. It is a useful simulation model and system for the further study on the kinematics and dynamics control theory of this kind of system similar as robot. The results of simulation show that controller has good stability and accuracy and the virtual simulation system is workable and effective. This system is not only an important virtual environment for the crane´s work on the sea but also the necessary reference of training for the operator and control.