Mechanical design and control of the new 7-DOF CyberMotion Simulator

Carlo Masone, Paolo Robuffo Giordano, Heinrich Bulthoff

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

7 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages4935-4942
Number of pages8
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: 2011 May 92011 May 13

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period11/5/911/5/13

Fingerprint

Industrial manipulators
Simulators
End effectors
Redundancy
Robots
Redundant manipulators
Manipulators
Kinematics
Actuators

ASJC Scopus subject areas

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

Cite this

Masone, C., Giordano, P. R., & Bulthoff, H. (2011). Mechanical design and control of the new 7-DOF CyberMotion Simulator. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 4935-4942). [5980436] https://doi.org/10.1109/ICRA.2011.5980436

Mechanical design and control of the new 7-DOF CyberMotion Simulator. / Masone, Carlo; Giordano, Paolo Robuffo; Bulthoff, Heinrich.

Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 4935-4942 5980436.

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

Masone, C, Giordano, PR & Bulthoff, H 2011, Mechanical design and control of the new 7-DOF CyberMotion Simulator. in Proceedings - IEEE International Conference on Robotics and Automation., 5980436, pp. 4935-4942, 2011 IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 11/5/9. https://doi.org/10.1109/ICRA.2011.5980436
Masone C, Giordano PR, Bulthoff H. Mechanical design and control of the new 7-DOF CyberMotion Simulator. In Proceedings - IEEE International Conference on Robotics and Automation. 2011. p. 4935-4942. 5980436 https://doi.org/10.1109/ICRA.2011.5980436
Masone, Carlo ; Giordano, Paolo Robuffo ; Bulthoff, Heinrich. / Mechanical design and control of the new 7-DOF CyberMotion Simulator. Proceedings - IEEE International Conference on Robotics and Automation. 2011. pp. 4935-4942
@inproceedings{74137c649ab54cc08ac679763f103e40,
title = "Mechanical design and control of the new 7-DOF CyberMotion Simulator",
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.",
author = "Carlo Masone and Giordano, {Paolo Robuffo} and Heinrich Bulthoff",
year = "2011",
month = "12",
day = "1",
doi = "10.1109/ICRA.2011.5980436",
language = "English",
isbn = "9781612843865",
pages = "4935--4942",
booktitle = "Proceedings - IEEE International Conference on Robotics and Automation",

}

TY - GEN

T1 - Mechanical design and control of the new 7-DOF CyberMotion Simulator

AU - Masone, Carlo

AU - Giordano, Paolo Robuffo

AU - Bulthoff, Heinrich

PY - 2011/12/1

Y1 - 2011/12/1

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=84871681113&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84871681113&partnerID=8YFLogxK

U2 - 10.1109/ICRA.2011.5980436

DO - 10.1109/ICRA.2011.5980436

M3 - Conference contribution

SN - 9781612843865

SP - 4935

EP - 4942

BT - Proceedings - IEEE International Conference on Robotics and Automation

ER -