<abstract xmlns="http://www.w3.org/1999/xhtml">

<p>The study focuses on the development and evaluation of a motion control system for the Large Range Robotic Motion Simulator (LaRRMoS), which is based on a serial manipulator with 6 degrees-of-freedom. Two motion cueing algorithms (MCAs) – Classical Washout Filter (CWF) and Classical Washout Filter with Cylindrical coordinates (CYL) – are implemented and tested for simulation fidelity and LaRRMoS workspace utilization. CWF and CYL motion cueing performance gets assessed in two use cases: car simulation and luge sports simulation. The car case is a typical driving simulator application. The luge sports case is chosen for its high dynamics to assess the limits of the robot and motion cueing. Though this study uses a pre-recorded set of motion data and runs simulations in non-interactive mode, it aims for real-time interactive simulation for LaRRMoS in the future, so only MCAs capable of real-time operation are inspected. Conducted tests show that the CYL algorithm provides superior performance in highly dynamic motion replication, particularly in lateral accelerations.</p>
</abstract>

The study focuses on the development and evaluation of a motion control system for the Large Range Robotic Motion Simulator (LaRRMoS), which is based on a serial manipulator with 6 degrees-of-freedom. Two motion cueing algorithms (MCAs) – Classical Washout Filter (CWF) and Classical Washout Filter with Cylindrical coordinates (CYL) – are implemented and tested for simulation fidelity and LaRRMoS workspace utilization. CWF and CYL motion cueing performance gets assessed in two use cases: car simulation and luge sports simulation. The car case is a typical driving simulator application. The luge sports case is chosen for its high dynamics to assess the limits of the robot and motion cueing. Though this study uses a pre-recorded set of motion data and runs simulations in non-interactive mode, it aims for real-time interactive simulation for LaRRMoS in the future, so only MCAs capable of real-time operation are inspected. Conducted tests show that the CYL algorithm provides superior performance in highly dynamic motion replication, particularly in lateral accelerations.

Implementation of Classical Motion Cueing Algorithms for Serial Manipulator Based Motion Simulator: Larrmos Case Study

Latvian Journal of Physics and Technical Sciences

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

The study focuses on the development and evaluation of a motion control system for the Large Range Robotic Motion Simulator (LaRRMoS), which is based on a...

Implementation of Classical Motion Cueing Algorithms for Serial Manipulator Based Motion Simulator: Larrmos Case Study

Published Online: Jul 18, 2024

Page range: 3 - 16

DOI: https://doi.org/10.2478/lpts-2024-0024

Keywords
Control, cueing, motion, robotics, simulation, serial manipulator

© 2024 A. Stupans et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Implementation of Classical Motion Cueing Algorithms for Serial Manipulator Based Motion Simulator: Larrmos Case Study

Published Online: Jul 18, 2024

Page range: 3 - 16

DOI: https://doi.org/10.2478/lpts-2024-0024

KeywordsControl, cueing, motion, robotics, simulation, serial manipulator

© 2024 A. Stupans et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
Control, cueing, motion, robotics, simulation, serial manipulator