%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