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Serial Kinematics based Motion Simulator - Evaluation of safety of the Passenger

Sharma, Karan and Haddadin, Sami and Heindl, Johann and Bellmann, Tobias and Parusel, Sven and Rokahr, Tim and Minning, Sebastian and Hirzinger, Gerd (2012) Serial Kinematics based Motion Simulator - Evaluation of safety of the Passenger. The 7th International Conference on the Safety of Industrial Automated Systems (SIAS-2012), 11-12 Oct 2012, Montreal, Canada. ISBN 978-2-89631-635-9 ISSN 0820-8409

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Abstract

Serial kinematics based motion simulation is a recent development and was ushered in by the introduction of the KUKA Robocoaster in 2001. The Robocoaster employs a 6-DoF industrial robot (KUKA KR-500) equipped with 2 seats at its tool centre point (TCP). Since 2001, the Robocoaster (and derived systems) has been a subject of active research and has been successfully transferred to the amusement industry. DLR has developed various iterations of the Robocoaster: In 2004-05, we presented the ‘KUKA Mars Mission’; this was the first time visual cues were incorporated with the Robocoaster system. Next, we developed the ‘RoboSim 4-D’ simulator that addressed the shortcomings of the earlier efforts, was lower in cost and had improved safety features. This version is in-use (as an offline simulator) at several amusement parks. The latest version, called the ‘DLR Robot Motion Simulator’ (DLRRMS) includes an additional linear axis at the base of the robot; which makes the setup a 7 DoF simulator. This version is used for both, online and offline simulations. Adaptation of an industrial robot into a motion simulator introduces a new set of challenges with regards to human and robot safety (i.e. prevention of damage to the setup as a secondary safety aim) and hence an appropriate safety infrastructure was deployed. To validate the potency of this system, it was subjected to several tests which involved effectuating high accelerations at the TCP by inducing sudden braking. The resulting accelerations were initially measured using an inertial measurement unit (IMU) and later, using an Anthropomorphic test device (ATD) commonly known as ’crash test dummy’. In this paper, we present the finding of safety analysis tests undertaken with an ATD placed in the simulator cell. We focus our attention to critical motions (e.g. flexion, inflexion etc.) of the head-neck region and also illustrate the software features such as the ‘watchdog application’ which offers extra functionalities that complement the existing safety features.

Item URL in elib:https://elib.dlr.de/113161/
Document Type:Conference or Workshop Item (Poster)
Title:Serial Kinematics based Motion Simulator - Evaluation of safety of the Passenger
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Sharma, Karankaran.sharma (at) dlr.dehttps://orcid.org/0000-0002-3323-7034
Haddadin, Samisami.haddadin (at) dlr.deUNSPECIFIED
Heindl, Johannjohann.heindl (at) dlr.deUNSPECIFIED
Bellmann, Tobiastobias.bellmann (at) dlr.deUNSPECIFIED
Parusel, Svensven.parusel (at) dlr.deUNSPECIFIED
Rokahr, Timtim.rokahr (at) dlr.deUNSPECIFIED
Minning, Sebastiansebastian.minning (at) dlr.deUNSPECIFIED
Hirzinger, Gerdgerd.hirzinger (at) dlr.deUNSPECIFIED
Date:11 October 2012
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 216-221
ISSN:0820-8409
ISBN:978-2-89631-635-9
Status:Published
Keywords:Accident investigation results, Safety related software, Robocoaster, Motion Simulators
Event Title:The 7th International Conference on the Safety of Industrial Automated Systems (SIAS-2012)
Event Location:Montreal, Canada
Event Type:international Conference
Event Dates:11-12 Oct 2012
Organizer:Occupational Health and Safety Research Institute, Canada
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Terrestrische Assistenz-Robotik
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Institute of System Dynamics and Control > Space System Dynamics
Deposited By: Sharma, Karan
Deposited On:17 Jul 2017 17:31
Last Modified:21 Sep 2017 16:56

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