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The DLR Robot Motion Simulator Part I : Design and Setup

Bellmann, Tobias and Heindl, Johann and Hellerer, Matthias and Kuchar, Richard and Sharma , Karan and Hirzinger, Gerd (2011) The DLR Robot Motion Simulator Part I : Design and Setup. IEEE International Conference on Robotics and Automation , 9.-13. Mai 2011, Shanghai, China.

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Abstract

In recent years a new generation of motion simulators, based on serial kinematics indusrial robots, emerged as alternative to the currently prevalent Steward-plattforms. This paper presents the newest addition to this : The DLR Robot Motion Simulator. Part I covers the design process and gives a detailed introducation 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 design using light-weight construction and real time vehile simulation were required. Another key issue of the whole design is the guarantee of safety. The simulator utilizes a 10m linar 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.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:The DLR Robot Motion Simulator Part I : Design and Setup
Authors:
AuthorsInstitution or Email of Authors
Bellmann, TobiasUNSPECIFIED
Heindl, JohannUNSPECIFIED
Hellerer, MatthiasUNSPECIFIED
Kuchar, RichardUNSPECIFIED
Sharma , KaranUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:2011
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:motion simulator, robot
Event Title:IEEE International Conference on Robotics and Automation
Event Location:Shanghai, China
Event Type:international Conference
Event Dates:9.-13. Mai 2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Fahrerassistenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > System Dynamics and Control (former Control Design Engineering)
Deposited By: Monika Klauer
Deposited On:26 Oct 2011 15:01
Last Modified:30 Jan 2012 11:40

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