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

摘要

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.