Implementation of a Classic Washout Filter for Robotic Large Range Motion Simulator using Cylindrical Coordinate System
2021 IEEE 9th Workshop on Advances in Information, Electronic and Electrical Engineering (AIEEE 2021): Proceedings
2021
Pāvels Maksimkins,
Andrejs Stupāns,
Skaidrīte Kriviša,
Armands Šenfelds,
Leonīds Ribickis
The study describes the implementation and analysis of two motion cueing algorithms on a robotic large range motion simulator. The authors compared the classic washout filter with its extended version utilizing cylindrical coordinates. Input data for the driving simulator was obtained in a real car with a body motion parameters acquisition system. Then both washout filters produced motion cues for the robotic simulator. Finally, the body motion parameter acquisition system and a backup accelerometer were placed in the simulator and recorded actual accelerations were. The focus of the study is to verify the precision of simulated specific forces compared to actual accelerations in the simulator's cabin. Additionally, some other parameters of washout filters were analyzed: human sensed specific forces using otolith transfer function, tilt rate-limiting impact on motion cues, power consumption of the robotic simulator.
Atslēgas vārdi
manipulators, motion simulator, classic washout filter, cylindrical washout filter, Internet of Things, mobile applications, accelerometers, motion measurements, electromechanical sensors
DOI
10.1109/AIEEE54188.2021.9670415
Hipersaite
https://ieeexplore.ieee.org/document/9670415
Maksimkins, P., Stupāns, A., Kriviša, S., Šenfelds, A., Ribickis, L. Implementation of a Classic Washout Filter for Robotic Large Range Motion Simulator using Cylindrical Coordinate System. No: 2021 IEEE 9th Workshop on Advances in Information, Electronic and Electrical Engineering (AIEEE 2021): Proceedings, Latvija, Riga, 25.-26. novembris, 2021. Piscataway: IEEE, 2021, 1.-6.lpp. ISBN 978-1-6654-6713-1. e-ISBN 978-1-6654-6712-4. ISSN 2689-7334. e-ISSN 2689-7342. Pieejams: doi:10.1109/AIEEE54188.2021.9670415
Publikācijas valoda
English (en)