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Simulación de Plataformas Robóticas de Movimiento para Aplicaciones de Realidad Virtual Mediante Filtros Digitales

  • Autores: Sergio Casas Yrurzum Árbol académico, Cristina Portalés Ricart, Silvia Rueda Árbol académico, Marcos Fernández Marín Árbol académico
  • Localización: Revista iberoamericana de automática e informática industrial ( RIAI ), ISSN-e 1697-7920, Vol. 14, Nº. 4, 2017, págs. 455-466
  • Idioma: español
  • DOI: 10.1016/j.riai.2017.07.001
  • Títulos paralelos:
    • On the Simulation of Robotic Motion Platforms with Digital Filters for Virtual Reality Applications.
  • Enlaces
  • Resumen
    • español

      El uso de plataformas robóticas de movimiento en simuladores de vehículos y aplicaciones de Realidad Virtual es relativamente habitual. Sin embargo, el ajuste de los algoritmos que controlan su funcionamiento, denominados algoritmos de washout, no es sencillo y requiere de numerosas pruebas hasta obtener una apropiada fidelidad de movimiento. Disponer de herramientas que permitan simular plataformas de movimiento puede permitir simplificar esta tarea. Es por ello que este trabajo presenta un método para la caracterización y simulación de manipuladores robóticos mediante filtros digitales de segundo orden, sencillo de implementar y ajustar a partir de una caracterización previa. El simulador se construye con el objetivo de permitir la simulación rápida de manipuladores robóticos y se ejemplifica con una plataforma de dos grados de libertad, aunque el método propuesto podría emplearse en otros dispositivos. En las pruebas realizadas se valida la precisión y velocidad de la simulación, concluyéndose que se obtiene una fidelidad satisfactoria y una velocidad de simulación elevada que permite emplear el simulador como sustituto del hardware real con algoritmos de washout.

    • English

      Robotic motion platforms are used in many vehicle simulators and Virtual Reality applications. However, the set-up of the socalled washout algorithms that control the generation of selfmotion is a hard process, since a great deal of tests need to be performed before reaching a proper motion fidelity. The availability of simulation tools eases this tuning task. Therefore, a motion platform characterization and simulation method is proposed in this paper. The method relies on second order digital filters and provides a reliable, yet very fast simulation system, which is assessed by means of a two degree-of-freedom motion platform, although the method might be applied to simulate other motion mechanisms.

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