TY - GEN
T1 - A novel framework for closed-loop robotic motion simulation - Part I
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 considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Experimental results are proposed to analyze the effectiveness of our approach. Part II [1] will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car.
AB - This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Experimental results are proposed to analyze the effectiveness of our approach. Part II [1] will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car.
UR - http://www.scopus.com/inward/record.url?scp=77955829984&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77955829984&partnerID=8YFLogxK
U2 - 10.1109/ROBOT.2010.5509647
DO - 10.1109/ROBOT.2010.5509647
M3 - Conference contribution
AN - SCOPUS:77955829984
SN - 9781424450381
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3876
EP - 3883
BT - 2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Y2 - 3 May 2010 through 7 May 2010
ER -