S. Schaetzle, C. Preusche, and G. Hirzinger (Germany)
Flight simulator, Robot design and architecture, Robo Coaster, Workspace optimization, Joint angle limitation,
The RoboCoaster is a theme park ride based on a serial chain industrial robot. Apart from its use as an entertainment device it can also be used for motion simulation such as flight or driving simulation. Its joint angle ranges are strictly limited due to safety reasons. In order to provide an appropriate workspace for motion simulation it is necessary to redefine the hardware limits of each joint. In this paper, we discuss the optimization of the robot’s joint angle ranges and present a method to reduce the six-dimensional optimization problem to a two-dimensional one. This method is illustrated using the example of a driving and flight simulator. We managed to expand the workspace significantly and to enhance the range of translational movements by a factor of up to five.
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