TY - GEN
T1 - A novel framework for closed-loop robotic motion simulation - Part II
T2 - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
AU - Robuffo Giordano, P.
AU - Masone, C.
AU - Tesch, J.
AU - Breidt, M.
AU - Pollini, L.
AU - Bülthoff, H. H.
PY - 2010
Y1 - 2010
N2 - This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I [1], we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator.
AB - This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I [1], we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator.
UR - http://www.scopus.com/inward/record.url?scp=77955818973&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955818973&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509945
DO - 10.1109/ROBOT.2010.5509945
M3 - Conference contribution
AN - SCOPUS:77955818973
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3896
EP - 3903
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -