%0 Conference Proceedings %F C18 %A Robuffo Giordano, P. %A Masone, C. %A Tesch, J. %A Breidt, M. %A Pollini, L. %A H. Bülthoff, H. %T {A Novel Framework for Closed-Loop Robotic Motion Simulation - Part II: Motion Cueing Design and Experimental Validation} %B IEEE Int. Conf. on Robotics and Automation, ICRA 2010 %P 3896-3903 %C Anchorage, AS, USA %X 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. Simulation results are proposed to analyze the effectiveness of our approach. Part II 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 %U http://rainbow-doc.irisa.fr/pdf/paolo/ICRA10_1101_FI.pdf %U http://dx.doi.org/10.1109/ROBOT.2010.5509647 %8 May %D 2010