Yi, T., 2019. Flexible control system for drill pipe conveying manipulator of offshore drilling platform. In: Hoang, A.T. and Aqeel Ashraf, M. (eds.), Research, Monitoring, and Engineering of Coastal, Port, and Marine Systems. Journal of Coastal Research, Special Issue No. 97, pp. 107–111.

In order to improve the efficiency of drilling and save the cost of drilling, it is necessary to design a control system for drilling pipe conveying manipulator of offshore drilling platform to instead of manual work. When using the current control system for drilling pipe conveying manipulator of offshore drilling platform, it cannot accurately locate the manipulator and adjust the rotation angle of the manipulator, thus there is a big control error. In view of the above problems, a new flexible control system for drilling pipe conveying manipulator of offshore drilling platform is designed, the coordinate system of the drill manipulator system is established, and the relationship between the position and posture of the manipulator's moving component and the terminal actuator space is analyzed. The PID positioning control method is used to locate the drill pipe manipulator and identify the storage state of the drill pipe, so that the flexible control for the drilling manipulator of the offshore drilling platform is completed. The experimental results show that the system can accurately locate the manipulator and adjust the rotation angle of the manipulator.