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, HH

doi:10.1109/ROBOT.2010.5509647

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

MPG-Autoren

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Robuffo Giordano, P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Tesch, J
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Breidt, M
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;
Project group: Cognitive Engineering, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Bülthoff, HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;
Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Zitation

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.

Zitierlink: https://hdl.handle.net/11858/00-001M-0000-0013-C036-D

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.