ICRA 2011 Paper Abstract

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Paper ThA202.5

Masone, Carlo (UniversitÓ di Roma "la Sapienza"), Robuffo Giordano, Paolo (Max Planck Institute for Biological Cybernetics), Buelthoff, Heinrich H. (Max Planck Institute for Biol. Cybernetics)

Mechanical Design and Control of the new 7-DOF CyberMotion Simulator

Scheduled for presentation during the Regular Sessions "Robot Design" (ThA202), Thursday, May 12, 2011, 11:05−11:20, Room 3C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on May 23, 2019

Keywords Mechanism Design of Manipulators, Motion Control of Manipulators, Virtual Reality and Interfaces

Abstract

This paper describes the mechanical and control design issues for the new 7-DOF CyberMotion Simulator, a redundant industrial manipulator arm consisting of a standard 6-DOF anthropomorphic manipulator plus an actuated cabin attached to the end-effector. Contrarily to Stewart platforms, an industrial manipulator offers several advantages when used as motion simulator: larger motion envelope, higher dexterity, and possibility to realize any end-effector posture within the workspace. In addition to this, the new actuated cabin acts as an additional joint and provides the needed kinematic redundancy to cope with the robot actuator and joint range constraints, which in general can significantly deteriorate the desired motion cues the robot is reproducing. In particular, we will show that by suitably exploiting the redundancy better results can be obtained in reproducing sustained acceleration cues, a relevant problem when implementing vehicle simulators.

 

 

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