Described in this paper is a setup for a motion simulator based on the serial robot RoboCoaster of type Kuka KR500 TÜV. While this system has been designed and is being used commercially for entertaining purposes, the basic mechanical system, termed Kuka KR500 TÜV, is being recently applied for simulating gross motion situations such as roll-over of cars, difficult steering maneuvers of heavy-duty vehicles or helicopter flights, or simulation of extreme motion such as in roller coasters. Currently, there are three generic-motion Kuka KR500 TÜV simulators available: one at the DLR, one at the Max Planck Institute for Biological Cybernetics in Tübingen, and one in the Chair for Mechanics and Robotics of the University Duisburg-Essen. roll-over playback hardware-in-the-loop model The basic task of such simulators is to generate user-prescribed acceleration profiles, both in offline and in on-line modus, which may be the result of a programmed track (such as in roller-coaster or roll-over playback) or of a hardware-in-the-loop model for some type of vehicle control (e.g. helicopter simulator) reacting under the influence of environmental parameters and pilots inputs. In this setting, the position of the robot is not important, but its ability to produce acceleration peaks of some duration. Moreover, due to safety regulations, it must be guaranteed that even with a control failure no part of the passenger touches the ground or a robot part. This leads to two particular problems that need to be regarded in this setting, namely, axis limit design, and design of a suitable controller. The paper addresses the issue of axis limit design such that both safety prescriptions as well as performance requirements are fulfilled. To this end, a surrogate mechanism for collision avoidance and a trade-off between manipulability and maximally achievable acceleration at the passengers head to optimize fidelity of sensed motion are proposed. Experimental results are presented based on a control algorithm for matching target accelerations also presented in the paper. The implementation of the concept shows a good dynamic behaviour, as illustrated by an example from vehicle dynamics.
Workspace fitting and control for a serial-robot motion simulator
2008
8 Seiten, 7 Bilder, 11 Quellen
Aufsatz (Konferenz)
Englisch
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