Coordinated adaptive washout for motion simulators

Parrish, Russell V.; Dieudonne, J. E.; Bowles, Roland L.; Martin, D. J.

doi:10.2514/6.1973-930

Cited by 20 publications

(17 citation statements)

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“…Just to mention a few, some attempts have been done in the direction of adaptive algorithms [8], [9], [10], and optimal control approaches [11], [12]. A thorough comparison can be found in [13], [14], [15].…”

Section: Design Of the Motion Cueing Algorithmmentioning

confidence: 99%

A novel framework for closed-loop robotic motion simulation - part II: Motion cueing design and experimental validation

Giordano

Masone

Tesch

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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This paper, divided in two Parts, considers the problem of realizing a 6-DOF closed-loop motion simulator by exploiting an anthropomorphic serial manipulator as motion platform. After having proposed a suitable inverse kinematics scheme in Part I [1], we address here the other key issue, i.e., devising a motion cueing algorithm tailored to the specific robot motion envelope. An extension of the well-known classical washout filter designed in cylindrical coordinates will provide an effective solution to this problem. The paper will then present a thorough experimental evaluation of the overall architecture (inverse kinematics + motion cueing) on the chosen scenario: closed-loop simulation of a Formula 1 racing car. This will prove the feasibility of our approach in fully exploiting the robot motion capabilities as a motion simulator.

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Section: Design Of the Motion Cueing Algorithmmentioning

confidence: 99%

A novel framework for closed-loop robotic motion simulation - part II: Motion cueing design and experimental validation

Giordano

Masone

Tesch

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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“…Many instances -involving both flight and driving simulators -can be found in the literature [3][4][5][6][7][8].…”

Section: Motion Cueingmentioning

confidence: 99%

Tuning and objective performance evaluation of a driving simulator to investigate tyre behaviour in on-centre handling manoeuvres

Baldoni¹,

Galante

Pernetti

et al. 2011

Vehicle System Dynamics

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Driving simulation aims at reproducing, within a safe and controlled environment, sensorial stimuli as close to those perceived during the actual drive as possible, in order to induce driving behaviour similar to the real one. This paper illustrates an activity carried out on the driving simulator Virtual Environment for Road Safety, bound for system performance optimisation while dealing with subjective and objective tyres evaluation in the field of on-centre manoeuvres. Such activity can be divided into two main steps. The first one, described herewith, has been focusing on platform motion algorithms tuning and has led to driving simulator objective validation within the on-centre range. Device capability of reproducing dynamics, worked out by the vehicle model, has been thoroughly examined. Simulator sensitivity to a few tyre parameters influencing vehicle lateral dynamics has been analysed too. The second step – calling for the support of experienced drivers – will pursue subjective validation

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“…To overcome this situation, Parrish, Dieudonne, and Martin (1975) proposed an ''adaptive'' strategy, further developed by Ariel and Sivan (1984), Reid and Nahon (1988) and Zong, Gao, and Mai (2000). At each computational step k, the gains and cut-off frequencies of the classical MCS filters are derived from the minimization of a cost function V k , of the form:…”

Section: Introductionmentioning

confidence: 99%