Title :
Design and characteristics analysis of a novel motion system for validation platform of driverless vehicle
Author :
Tang, Guoming ; Tao ; Liu, Xin ; Liu, Wei ; Mei, Tao
Author_Institution :
Inst. of Intell. Machines, Chinese Acad. of Sci., Beijing
Abstract :
A novel four degree of freedom (four-DOF) motion system for validation platform of driverless vehicle has been proposed. This motion system consists of four primary components-a turn table, a three-DOF parallel manipulator, an active platform and a road surface simulation subsystem-which are described in detail in the following sections. Kinematics solution of this motion system has been derived to construct relationship relating input variables to the output variables. In order to increase in reliability of experimental results, the rollers have been integrated with active platform to simulate the road resistance. The motor control modeling and roller architecture parameters computation have also been given.
Keywords :
manipulator kinematics; motion control; reliability; remotely operated vehicles; road vehicles; rollers (machinery); active platform; driverless vehicle validation platform; four degree of freedom motion system; kinematics solution; motor control modeling; reliability; road surface simulation subsystem; roller architecture parameters; three-DOF parallel manipulator; turn table; Biomimetics; Computational modeling; Intelligent robots; Intelligent vehicles; Kinematics; Machine intelligence; Motion analysis; Roads; Testing; Vehicle driving; Kinematics solution; Road surface simulation system; Roller; Validation platform;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913239
