The DLR Robot Motion Simulator Part I: Design and Setup
In recent years a new generation of motion simulators, based on serial kinematics industrial robots, emerged as alternative to the currently prevalent Steward-platforms. This paper presents the newest addition to this: The DLR Robot Motion Simulator. Part I covers the design process and gives a detailed introduction of the setup. The overall layout of the simulation platform and its parts is introduced. To meet the requirements of an interactive simulation, a new piloting cell had to be designed using light-weight construction and real time vehicle simulations were required. Another key issue of the whole design is the guarantee of safety. The simulator utilizes a 10m linear axis to increase its workspace to provide a better simulation experience compared to previous designs of motion simulators with serial or parallel kinematics. Part II introduces a new path planning algorithm for the kinematically redundant simulator platform, required for the generation of appropriate motion cues. Furthermore the application artistic-flight simulation is demonstrated and validated.
Tobias Bellmann Johann Heindl Matthias Hellerer Richard Kuchar Karan Sharma Gerd Hirzinger
Institute of Robotics and Mechatronics,German Aerospace Center,82234 Oberpfaffenhofen,Germany
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4694-4701
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）