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, 2009-11-02 - 2009-11-04, 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.
Item URL in elib: | https://elib.dlr.de/61991/ | ||||||||||||||||
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Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||
Title: | Workspace Optimization of the Robocoaster Used as a Motion Simulator | ||||||||||||||||
Authors: |
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Date: | 2009 | ||||||||||||||||
Journal or Publication Title: | Proceedings of the 14th IASTED | ||||||||||||||||
Open Access: | Yes | ||||||||||||||||
Gold Open Access: | No | ||||||||||||||||
In SCOPUS: | No | ||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||
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 Start Date: | 2 November 2009 | ||||||||||||||||
Event End Date: | 4 November 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 (until 2012) > Robotic Systems | ||||||||||||||||
Deposited By: | Klauer, Monika | ||||||||||||||||
Deposited On: | 17 Dec 2009 14:57 | ||||||||||||||||
Last Modified: | 24 Apr 2024 19:27 |
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