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Motion simulation using a high-speed parallel link mechanism

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3 Author(s)
Tarao, S. ; Dept. of Intelligent Syst. Eng., Ichinoseki Nat. Coll. of Technol., Japan ; Inohira, E. ; Uchiyama, M.

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

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:3 )

Date of Conference:

2000