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

Carlo Masone, Paolo Robuffo Giordano, Heinrich H. Bülthoff

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 publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
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

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

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

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ASJC Scopus subject areas

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

Cite this

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