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  A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design

Robuffo Giordano, P., Masone, C., Tesch, J., Breidt, M., Pollini, L., & Bülthoff, H. (2010). A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design. In 2010 IEEE International Conference on Robotics and Automation (ICRA 2010) (pp. 3876-3883). Piscataway, NJ, USA: IEEE.

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 Urheber:
Robuffo Giordano, P1, 2, Autor           
Masone, C, Autor           
Tesch, J1, 2, Autor           
Breidt, M1, 2, 3, Autor           
Pollini, L, Autor           
Bülthoff, HH1, 2, Autor           
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, ou_1497794              
3Project group: Cognitive Engineering, Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_2528702              

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 Zusammenfassung: 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. Simulation results are proposed to analyze the effectiveness of our approach. Part II 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.

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 Datum: 2010-05
 Publikationsstatus: Erschienen
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 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1109/ROBOT.2010.5509647
BibTex Citekey: 6247
 Art des Abschluß: -

Veranstaltung

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Titel: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Veranstaltungsort: Anchorage, AS, USA
Start-/Enddatum: 2010-05-03 - 2010-05-07

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Titel: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 3876 - 3883 Identifikator: ISBN: 978-1-424-45038-1