Design and characteristics analysis of a novel motion system for validation platform of driverless vehicle

Author

Tang, Guoming ; Tao ; Liu, Xin ; Liu, Wei ; Mei, Tao

Author_Institution

Inst. of Intell. Machines, Chinese Acad. of Sci., Beijing

fYear

2009

fDate

22-25 Feb. 2009

Firstpage

1595

Lastpage

1600

Abstract

A novel four degree of freedom (four-DOF) motion system for validation platform of driverless vehicle has been proposed. This motion system consists of four primary components-a turn table, a three-DOF parallel manipulator, an active platform and a road surface simulation subsystem-which are described in detail in the following sections. Kinematics solution of this motion system has been derived to construct relationship relating input variables to the output variables. In order to increase in reliability of experimental results, the rollers have been integrated with active platform to simulate the road resistance. The motor control modeling and roller architecture parameters computation have also been given.

Keywords

manipulator kinematics; motion control; reliability; remotely operated vehicles; road vehicles; rollers (machinery); active platform; driverless vehicle validation platform; four degree of freedom motion system; kinematics solution; motor control modeling; reliability; road surface simulation subsystem; roller architecture parameters; three-DOF parallel manipulator; turn table; Biomimetics; Computational modeling; Intelligent robots; Intelligent vehicles; Kinematics; Machine intelligence; Motion analysis; Roads; Testing; Vehicle driving; Kinematics solution; Road surface simulation system; Roller; Validation platform;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on

Conference_Location

Bangkok

Print_ISBN

978-1-4244-2678-2

Electronic_ISBN

978-1-4244-2679-9

Type

conf

DOI

10.1109/ROBIO.2009.4913239

Filename

4913239