Motion Protection System Design for a Parallel Motion Platform
A motion protection system is designed for a parallel
motion platform with subsided cabin. Due to its complex structure,
parallel mechanism is easy to encounter interference problems
including link length limits, joints limits and self-collision. Thus a
virtual spring algorithm in operational space is developed for the
motion protection system to avoid potential damages caused by
interference. Simulation results show that the proposed motion
protection system can effectively eliminate interference problems and
ensure safety of the whole motion platform.
[1] B. C. Judith, N. S. Nancy and L. Thomas, "Simulator platform motion -
the need revisited," The International Journal of Aviation Psychology, vol.
8, no. 3, pp. 293-317, 1998.
[2] C. H. Francois and M. Eric, "A new redundancy-based iterative scheme
for avoiding joint limits application to visual servoing," Proceedings of
IEEE International Conference on Robotics & Automation, pp.1720-1725,
2000.
[3] F. C. Tan and V. Rajiv, "A weighted least-norm solution based scheme for
avoiding joint limits for redundant joint manipulators," IEEE Transaction
on Robotics & Automation, vol. 11, no. 2, pp.286-292, 1999.
[4] K. Tchnon and A. Matszok, "On avoiding singularity in redundant robot
kinematics," Robotica, vol. 13, pp.599-606, 1995.
[5] L. D. Reid and M. A. Nahon, "Flight simulator motion-based drive
algorithm: part 2 - selecting the system parameters", UTIAS Report
No.307, 1986.
[6] R. E. McFarland, "Adjusting limiting algorithms for robust motion
simulation," AIAA Modeling and Simulation Technologies Conference,
2001.
[7] R. J. Telban, F. M. Cardullo and L. C. Kelly, "Motion cueing algorithm
development: new motion cueing program implementation and tuning",
NASA CR-2005-213746, 2005.
[8] A. Rubio, A. Avello and J. Florez, "On the use of virtual springs to avoid
singularities and workspace boundaries in force-feedback teleoperation",
Proceedings of the 2000 IEEE International Conference on Robotics &
Automation, pp.2690-2695, 2000.
[9] B. Zhou, Study on the Disgn and Interference-Safeguard Problem of the
Stewart Platform Parallel Manipulator, Xi-an Jiaotong University,
China,,PHD Thesis, 2002.
[10] H. Fang, The Research on Safety Mechanism Design and Control
Methods of 6-Dof Parallel Manipulators, Xi-an Jiaotong University,
China, PHD Thesis, 2002.
[11] I. Chunkpaiwong and W. S. Newman, "Reflexsive collision avoidance for
a novel parallel manipulator" Proceedings of the 2001 IEEE/RSJ
International Conference on Intelligent Robots and Systems,
pp.1293-1298, 2001.
[12] J. P. Merlet and D. Daney, "Legs interference checking of parallel robots
over a given workspace or trajectory" Proceedings of 2006 IEEE
International Conference on Robotics and Automation, pp.757-762, 2006.
[13] B. Dasgupta, T. S. Mruthyunjaya, "Closed-form dynamic equations of the
general Stewart platform through the Newton-Euler approach,"
Mechanism and Machine Theory, vol. 33, no. 7, pp. 993-1012, 1998.
[1] B. C. Judith, N. S. Nancy and L. Thomas, "Simulator platform motion -
the need revisited," The International Journal of Aviation Psychology, vol.
8, no. 3, pp. 293-317, 1998.
[2] C. H. Francois and M. Eric, "A new redundancy-based iterative scheme
for avoiding joint limits application to visual servoing," Proceedings of
IEEE International Conference on Robotics & Automation, pp.1720-1725,
2000.
[3] F. C. Tan and V. Rajiv, "A weighted least-norm solution based scheme for
avoiding joint limits for redundant joint manipulators," IEEE Transaction
on Robotics & Automation, vol. 11, no. 2, pp.286-292, 1999.
[4] K. Tchnon and A. Matszok, "On avoiding singularity in redundant robot
kinematics," Robotica, vol. 13, pp.599-606, 1995.
[5] L. D. Reid and M. A. Nahon, "Flight simulator motion-based drive
algorithm: part 2 - selecting the system parameters", UTIAS Report
No.307, 1986.
[6] R. E. McFarland, "Adjusting limiting algorithms for robust motion
simulation," AIAA Modeling and Simulation Technologies Conference,
2001.
[7] R. J. Telban, F. M. Cardullo and L. C. Kelly, "Motion cueing algorithm
development: new motion cueing program implementation and tuning",
NASA CR-2005-213746, 2005.
[8] A. Rubio, A. Avello and J. Florez, "On the use of virtual springs to avoid
singularities and workspace boundaries in force-feedback teleoperation",
Proceedings of the 2000 IEEE International Conference on Robotics &
Automation, pp.2690-2695, 2000.
[9] B. Zhou, Study on the Disgn and Interference-Safeguard Problem of the
Stewart Platform Parallel Manipulator, Xi-an Jiaotong University,
China,,PHD Thesis, 2002.
[10] H. Fang, The Research on Safety Mechanism Design and Control
Methods of 6-Dof Parallel Manipulators, Xi-an Jiaotong University,
China, PHD Thesis, 2002.
[11] I. Chunkpaiwong and W. S. Newman, "Reflexsive collision avoidance for
a novel parallel manipulator" Proceedings of the 2001 IEEE/RSJ
International Conference on Intelligent Robots and Systems,
pp.1293-1298, 2001.
[12] J. P. Merlet and D. Daney, "Legs interference checking of parallel robots
over a given workspace or trajectory" Proceedings of 2006 IEEE
International Conference on Robotics and Automation, pp.757-762, 2006.
[13] B. Dasgupta, T. S. Mruthyunjaya, "Closed-form dynamic equations of the
general Stewart platform through the Newton-Euler approach,"
Mechanism and Machine Theory, vol. 33, no. 7, pp. 993-1012, 1998.
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:56053", author = "Dongsu Wu and Hongbin Gu", title = "Motion Protection System Design for a Parallel Motion Platform", abstract = "A motion protection system is designed for a parallel
motion platform with subsided cabin. Due to its complex structure,
parallel mechanism is easy to encounter interference problems
including link length limits, joints limits and self-collision. Thus a
virtual spring algorithm in operational space is developed for the
motion protection system to avoid potential damages caused by
interference. Simulation results show that the proposed motion
protection system can effectively eliminate interference problems and
ensure safety of the whole motion platform.", keywords = "Motion protection, motion platform, parallelmechanism, Stewart platform, collision avoidance.", volume = "3", number = "12", pages = "1504-5", }
