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.
Item URL in elib: | https://elib.dlr.de/71362/ | |||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech, Paper) | |||||||||||||||||||||
Title: | The DLR Robot Motion Simulator Part I : Design and Setup | |||||||||||||||||||||
Authors: |
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Date: | 2011 | |||||||||||||||||||||
Refereed publication: | Yes | |||||||||||||||||||||
Open Access: | No | |||||||||||||||||||||
Gold Open Access: | No | |||||||||||||||||||||
In SCOPUS: | No | |||||||||||||||||||||
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 (old) | |||||||||||||||||||||
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 (until 2012) > System Dynamics and Control (former Control Design Engineering) | |||||||||||||||||||||
Deposited By: | Klauer, Monika | |||||||||||||||||||||
Deposited On: | 26 Oct 2011 15:01 | |||||||||||||||||||||
Last Modified: | 30 Jan 2012 11:40 |
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