English
 
User Manual Privacy Policy Disclaimer Contact us
  Advanced SearchBrowse

Item

ITEM ACTIONSEXPORT
  Mechanical design and control of the new 7-DOF CyberMotion simulator

Masone, C., Robuffo Giordano, P., & Bülthoff, H. (2011). Mechanical design and control of the new 7-DOF CyberMotion simulator. In IEEE International Conference on Robotics and Automation (ICRA 2011) (pp. 4935-4942). Piscataway, NJ, USA: IEEE.

Item is

Basic

show hide
Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0013-BBD2-1 Version Permalink: http://hdl.handle.net/21.11116/0000-0002-0CEA-A
Genre: Conference Paper

Files

show Files

Locators

show
hide
Description:
-

Creators

show
hide
 Creators:
Masone, C1, 2, Author              
Robuffo Giordano, P1, 2, Author              
Bülthoff, HH1, 2, Author              
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

Content

show
hide
Free keywords: -
 Abstract: This paper describes the mechanical and control design of the new 7-DOF CyberMotion Simulator, a redundant industrial manipulator arm consisting of a standard 6-DOF anthropomorphic manipulator plus an actuated cabin attached to the end-effector. Contrarily to Stewart platforms, an industrial manipulator offers several advantages when used as motion simulator: larger motion envelope, higher dexterity, and possibility to realize any end-effector posture within the workspace. In addition to this, the new actuated cabin acts as an additional joint and provides the needed kinematic redundancy to cope with the robot actuator and joint range constraints, which in general can significantly deteriorate the desired motion cues the robot is reproducing. In particular, we will show that, by suitably exploiting the redundancy better results can be obtained in reproducing sustained acceleration cues, a relevant problem when implementing vehicle simulators.

Details

show
hide
Language(s):
 Dates: 2011-05
 Publication Status: Published in print
 Pages: -
 Publishing info: -
 Table of Contents: -
 Rev. Type: -
 Identifiers: DOI: 10.1109/ICRA.2011.5980436
BibTex Citekey: MasoneRB2011
 Degree: -

Event

show
hide
Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Place of Event: Shanghai, China
Start-/End Date: 2011-05-09 - 2011-05-13

Legal Case

show

Project information

show

Source 1

show
hide
Title: IEEE International Conference on Robotics and Automation (ICRA 2011)
Source Genre: Proceedings
 Creator(s):
Affiliations:
Publ. Info: Piscataway, NJ, USA : IEEE
Pages: - Volume / Issue: - Sequence Number: - Start / End Page: 4935 - 4942 Identifier: ISBN: 978-1-61284-386-5