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Performance analysis and dexterity monitoring of hexapod-based simulator
conference contribution
posted on 2018-06-14, 00:00 authored by Mohammadreza Chalak Qazani, Houshyar AsadiHoushyar Asadi, Siamak Pedrammehr, Saeid NahavandiWashout filter is in demand to generate the vehicle acceleration and angular velocities with high loyalty to make the best realistic motion. The limitation of the simulator's moving platform is an integral part of every motion simulator. Adaptive and model predictive control washout filters contribute with this limitation online. It is necessary to have a real vision to the workspace limitation which is needed for unpredicted next step of the simulator. In this paper dexterity analysis is addressed as a novel method to monitor the performance accuracy of the simulator. The dexterity of both the classical and optimal washout filters are compared. Finally, it is shown that the dexterity analysis in optimal washout filter is necessary to avoid the workspace limitations.
History
Event
IEEE Robotics & Automation Society. Conference (4th : 2018 : Auckland, N.Z.)Series
IEEE Robotics & Automation Society ConferencePagination
226 - 231Publisher
Institute of Electrical and Electronics EngineersLocation
Auckland, N.Z.Place of publication
Piscataway, N.J.Publisher DOI
Start date
2018-04-20End date
2018-04-23ISBN-13
978-1-5386-6338-7Language
engPublication classification
E1 Full written paper - refereedCopyright notice
2018, IEEEEditor/Contributor(s)
[Unknown]Title of proceedings
ICCAR 2018 : Proceedings of the 2018 4th International Conference on Control, Automation and RoboticsUsage metrics
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