Implementation of Classical Motion Cueing Algorithms for Serial Manipulator Based Motion Simulator: Larrmos Case Study
Latvian Journal of Physics and Technical Sciences 2024
Andrejs Stupāns, Pāvels Maksimkins, Armands Šenfelds, Leonīds Ribickis

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 realtime 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.


Atslēgas vārdi
Control, cueing, motion, robotics, simulation, serial manipulator

Stupāns, A., Maksimkins, P., Šenfelds, A., Ribickis, L. Implementation of Classical Motion Cueing Algorithms for Serial Manipulator Based Motion Simulator: Larrmos Case Study. Latvian Journal of Physics and Technical Sciences, 2024, Vol. 61, No. 4, 3.-16.lpp. ISSN 0868-8257. e-ISSN 2255-8896.

Publikācijas valoda
English (en)
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