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Workspace Optimization of the Robocoaster Used as a Motion Simulator

Schaetzle, Simon and Preusche, Carsten and Hirzinger, Gerd (2009) Workspace Optimization of the Robocoaster Used as a Motion Simulator. In: Proceedings of the 14th IASTED, pp. 470-477. International Conference Robotics and Applications, 02.-04. Nov. 2009, Cambridge, USA.

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Abstract

The RoboCoaster is a theme park ride based on a serial chain industrial robot. Apart from its use as an entertainment device it can also be used for motion simulation such as flight or driving simulation. Its joint angle ranges are strictly limited due to safety reasons. In order to provide an appropriate workspace for motion simulation it is necessary to redefine the hardware limits of each joint. In this paper, we discuss the optimization of the robot’s joint angle ranges and present a method to reduce the six-dimensional optimization problem to a two-dimensional one. This method is illustrated using the example of a driving and flight simulator. We managed to expand the workspace significantly and to enhance the range of translational movements by a factor of up to five.

Document Type:Conference or Workshop Item (Paper)
Title:Workspace Optimization of the Robocoaster Used as a Motion Simulator
Authors:
AuthorsInstitution or Email of Authors
Schaetzle, SimonSimon.Schaetzle@DLR.de
Preusche, CarstenCarsten.Preusche@DLR.de
Hirzinger, GerdGerd.Hirzinger@DLR.de
Date:2009
Journal or Publication Title:Proceedings of the 14th IASTED
Page Range:pp. 470-477
Status:Published
Keywords:Flight simulator, Robot design and architecture, Robo- Coaster, Workspace optimization, Joint angle limitation,
Event Title:International Conference Robotics and Applications
Event Location:Cambridge, USA
Event Type:international Conference
Event Dates:02.-04. Nov. 2009
Organizer:IASTED
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Vorhaben On-Orbit Servicing (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Monika Klauer
Deposited On:17 Dec 2009 14:57
Last Modified:12 Dec 2013 20:49

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