A common issue of the parallel robot is that has a large number of dynamic parameters, which requires a lot of processing time, whether in dynamic modeling, identification or control. The optimization and estimation of inertial parameters of a large DoF number of robotic system is crucial to tune the model-based control law in order to improve the robot accuracy. In this paper, we present an optimized number of dynamic parameters, called base inertial parameters. As a result, only 90 base inertial parameters affect the evr@ simulator instead of 210 standard one. Torque signals evaluation from experimental parallel platform and the developed analytical form show the effectiveness of the obtained results.
Sliding simulators for people with poor or reduced mobility, such as skiing, jet skiing, and wake, are new fields of motion simulator while all existing simulators for sliding movement, from our knowledge, use a low degree of freedom robot which limits the reproduction of the human sensations. In this paper, we present a high degree of freedom simulator with a hybrid structure composed of a parallel 6 DoF Gough-Stewart robot mounted on a serial XY table, we present the building of mixed reality environment, then, we propose two scenarios for operating the simulator: manual or interactive mode and automatic mode. At the interactive mode level, we present the way-points tracking and virtual obstacle avoidance and at the automatic mode level, we present the planning of predefined trajectory and the application of classic and adaptive approaches of motion cueing algorithm on the real platform.
The transfer of advanced technology to the person with a disability who wishes to practice a sporting activity is gaining momentum in the science/engineering world. This paper seeks to approve more comfort and sensations for people with paraplegia on a motion simulation platform during a ski operation. The Motion Cueing Algorithm (MCA) has proven itself for sensation reproduction, which we propose to improve by integrating the physical limits of our 8-DoF mechatronics platform. An extended classical MCA is proposed to respond to the significant lack of restored sensation in the intermediate frequency range. A Particle Swarm Optimization (PSO) is constructed to perform optimal washout filter parameters and control law parameters. Consequently, the reproduced skier trajectory stability is obtained. The results show that the proposed algorithm will overcome the physical limitation problem in the Handiski simulator, improve the realism of movement sensation, and reduce the false cues to enhance dynamic fidelity.
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