Workspace fitting and control for a serial-robot motion simulator

Abstract

Described in this paper is a setup for a motion simulator based on the serial robot RoboCoaster of type Kuka KR500 TÜV. The paper addresses the issue of axis limit design such that both safety prescriptions as well as performance requirements are fulfilled. To this end, a surrogate mechanism for collision avoidance and a trade-off between manipulability and maximally achievable acceleration at the passenger's head to optimize fidelity of sensed motion are proposed. Experimental results are presented based on a control algorithm for matching target accelerations also presented in the paper. © Springer Science+Business Media B.V. 2009.