A Novel Framework for Closed-Loop Robotic Motion Simulation - Part I: Inverse Kinematics Design

被引：8
|
作者：
Giordano, P. Robuffo [1 ]
Masone, C. [2 ]
Tesch, J. [1 ]
Breidt, M. [1 ]
Pollini, L. [3 ]
Buelthoff, H. H. [1 ,4 ]
机构：
[1] Max Planck Inst Biol Cybernet, Spemannstr 38, D-72076 Tubingen, Germany
[2] Univ Roma La Sapienza, Dipartimento Informat & Sistemist, I-00185 Rome, Italy
[3] Univ Pisa, Dipartimento Sistemi Elettr & Automaz, I-56126 Pisa, Italy
[4] Korea Univ, Dept Brain & Cognit Engn, Seoul 136713, South Korea
来源：
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA) | 2010年
基金：
新加坡国家研究基金会;
关键词：
TIME; MANIPULATORS; SINGULARITY;
D O I：
10.1109/ROBOT.2010.5509647
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. Contrary to standard Stewart platforms, an industrial anthropomorphic manipulator offers a considerably larger motion envelope and higher dexterity that let envisage it as a viable and superior alternative. Our work is divided in two papers. In this Part I, we discuss the main challenges in adopting a serial manipulator as motion platform, and thoroughly analyze one key issue: the design of a suitable inverse kinematics scheme for online motion reproduction. Experimental results are proposed to analyze the effectiveness of our approach. Part II [1] will address the design of a motion cueing algorithm tailored to the robot kinematics, and will provide an experimental evaluation on the chosen scenario: closed-loop simulation of a Formula 1 racing car.
引用
收藏
页码：3876 / 3883
页数：8
相关论文
共 50 条
  • [1] A Closed-Loop Framework for the Inverse Kinematics of the 7 Degrees of Freedom Manipulator
    Song, Guoli
    Su, Shun
    Li, Yingli
    Zhao, Xingang
    Du, Huibin
    Han, Jianda
    Zhao, Yiwen
    [J]. ROBOTICA, 2021, 39 (04) : 572 - 581
  • [2] A Closed-Loop Framework for Inverse Kinematics of the 7-DOF Manipulator
    Du, Huibin
    Zhao, Yiwen
    Li, Xiaoguang
    Han, Jianda
    Wang, Zheng
    Song, Guoli
    [J]. PROCEEDINGS OF 2016 2ND INTERNATIONAL CONFERENCE ON CONTROL SCIENCE AND SYSTEMS ENGINEERING (ICCSSE), 2016, : 237 - 241
  • [3] Closed-Loop Inverse Kinematics Algorithm with Implicit Numerical Integration
    Drexler, Daniel Andras
    [J]. ACTA POLYTECHNICA HUNGARICA, 2017, 14 (01) : 147 - 161
  • [4] On the Stability of Closed-Loop Inverse Kinematics Algorithms for Redundant Robots
    Falco, Pietro
    Natale, Ciro
    [J]. IEEE TRANSACTIONS ON ROBOTICS, 2011, 27 (04) : 780 - 784
  • [5] On the closed-loop design of flexible robotic links
    Zhou, PX
    Williams, MS
    Wang, FY
    [J]. INFORMATION INTELLIGENCE AND SYSTEMS, VOLS 1-4, 1996, : 1712 - 1717
  • [6] The Tricept robot: Inverse kinematics, manipulability analysis and closed-loop direct kinematics algorithm
    Siciliano, B
    [J]. ROBOTICA, 1999, 17 : 437 - 445
  • [7] Exploiting Redundancy in Closed-Loop Inverse Kinematics for Dexterous Object Manipulation
    Lippiello, Vincenzo
    Ruggiero, Fabio
    Villani, Luigi
    [J]. ICAR: 2009 14TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS, VOLS 1 AND 2, 2009, : 778 - 783
  • [8] DESIGN AND SIMULATION OF CLOSED-LOOP GROUND ALIGNMENT OF INERTIAL PLATFORMS WITH SWAY MOTION
    VATHSAL, S
    [J]. JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 1986, 9 (03) : 332 - 338
  • [9] Design and simulation of a closed-loop deployable structure
    Zheng, Fei
    Chen, Mei
    Hao, Bei
    [J]. ISSCAA 2006: 1ST INTERNATIONAL SYMPOSIUM ON SYSTEMS AND CONTROL IN AEROSPACE AND ASTRONAUTICS, VOLS 1AND 2, 2006, : 1295 - +
  • [10] Parallel computational algorithms for the simulation of closed-loop robotic systems
    Wang, JG
    Gosselin, CM
    [J]. INTERNATIONAL CONFERENCE ON PARALLEL COMPUTING IN ELECTRICAL ENGINEERING - PARELEC 2000, PROCEEDINGS, 2000, : 34 - 38
12345