A novel framework for closed-loop robotic motion simulation - Part I

Inverse kinematics design

P. Robuffo Giordano, C. Masone, J. Tesch, M. Breidt, L. Pollini, Heinrich Bulthoff

Research output: Chapter in Book/Report/Conference proceedingConference contribution

17 Citations (Scopus)

Abstract

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. Experimental results are proposed to analyze the effectiveness of our approach. Part II [1] 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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3876-3883
Number of pages8
DOIs
Publication statusPublished - 2010 Aug 26
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: 2010 May 32010 May 7

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period10/5/310/5/7

Fingerprint

Inverse kinematics
Manipulators
Robotics
Kinematics
Railroad cars
Simulators
Robots

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Robuffo Giordano, P., Masone, C., Tesch, J., Breidt, M., Pollini, L., & Bulthoff, H. (2010). A novel framework for closed-loop robotic motion simulation - Part I: Inverse kinematics design. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 3876-3883). [5509647] https://doi.org/10.1109/ROBOT.2010.5509647

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.; Bulthoff, Heinrich.

Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 3876-3883 5509647.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Robuffo Giordano, P, Masone, C, Tesch, J, Breidt, M, Pollini, L & Bulthoff, H 2010, A novel framework for closed-loop robotic motion simulation - Part I: Inverse kinematics design. in Proceedings - IEEE International Conference on Robotics and Automation., 5509647, pp. 3876-3883, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 10/5/3. https://doi.org/10.1109/ROBOT.2010.5509647
Robuffo Giordano P, Masone C, Tesch J, Breidt M, Pollini L, Bulthoff H. A novel framework for closed-loop robotic motion simulation - Part I: Inverse kinematics design. In Proceedings - IEEE International Conference on Robotics and Automation. 2010. p. 3876-3883. 5509647 https://doi.org/10.1109/ROBOT.2010.5509647
Robuffo Giordano, P. ; Masone, C. ; Tesch, J. ; Breidt, M. ; Pollini, L. ; Bulthoff, Heinrich. / A novel framework for closed-loop robotic motion simulation - Part I : Inverse kinematics design. Proceedings - IEEE International Conference on Robotics and Automation. 2010. pp. 3876-3883
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