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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    A novel framework for closed-loop robotic motion simulation - Part I: inverse kinematics design



    Erscheinungsdatum :

    2010-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    DDC:    629



    Multi-task closed-loop inverse kinematics stability through semidefinite programming

    Martí Saumell, Josep / Santamaria-Navarro, Àngel / Ocampo-Martínez, Carlos et al. | BASE | 2020

    Freier Zugriff


    Closed-loop inverse kinematics for redundant robots: comparative assessment and two enhancements

    Colomé Figueras, Adrià / Torras, Carme | BASE | 2015

    Freier Zugriff