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Vol. 14. Núm. 4.
Páginas 455-466 (Octubre - Diciembre 2017)
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Vol. 14. Núm. 4.
Páginas 455-466 (Octubre - Diciembre 2017)
DOI: 10.1016/j.riai.2017.07.001
Open Access
Simulación de Plataformas Robóticas de Movimiento para Aplicaciones de Realidad Virtual Mediante Filtros Digitales
On the Simulation of Robotic Motion Platforms with Digital Filters for Virtual Reality Applications
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Sergio Casas, Cristina Portalés
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poricris@uv.es

Autor para correspondencia.
, Silvia Rueda, Marcos Fernández
Instituto de Robótica y Tecnologías de la Información y la Comunicación, Universitat de València, C/ Catedrático José Beltrán 2, 46980, Paterna, Valencia, España
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Resumen

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.

Palabras clave:
Plataformas de movimiento
simuladores
filtros digitales
realidad virtual
robótica
tiempo real
Abstract

Robotic motion platforms are used in many vehicle simulators and Virtual Reality applications. However, the set-up of the so-called washout algorithms that control the generation of self-motion 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.

Keywords:
Motion platforms
simulation
digital filters
Virtual Reality
robotics
real time
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