Title :
Motion simulation using a high-speed parallel link mechanism
Author :
Tarao, Susumu ; Inohira, E. ; Uchiyama, M.
Author_Institution :
Dept. of Intelligent Syst. Eng., Ichinoseki Nat. Coll. of Technol., Japan
Abstract :
A new kind of motion simulation is proposed for the purpose of simulating complicated motions such as those caused by interactions between objects in special environments (e.g., those of micro-gravity). The motion simulation is based on a hybrid simulation: consisting of a combined analog-digital system. Hence it has functions of real-time numerical simulation and embedding a physical model in the simulation. In addition, the motion simulation is equipped with flexibility of modeling, effective human interface and scalability of system. Finally, as a preliminary experiment, motion caused by interactions between a chaser (space robot) and a target (nano satellite) has been simulated with a prototype of the hybrid motion simulator
Keywords :
aerospace robotics; hybrid simulation; manipulator dynamics; motion control; telerobotics; combined analog-digital system; high-speed parallel link mechanism; hybrid simulation; micro-gravity; motion simulation; nano satellite; real-time numerical simulation; space robot; Aerodynamics; Bandwidth; Computational modeling; Computer simulation; Hardware; Manipulator dynamics; Numerical models; Orbital robotics; Space missions; Virtual prototyping;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895199
