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Implementation and validation of a model of the MPI Stewart platform

MPG-Autoren
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84111

Nieuwenhuizen,  FM
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons83839

Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Zitation

Nieuwenhuizen, F., van Paassen MM, Mulder, M., & Bülthoff, H. (2010). Implementation and validation of a model of the MPI Stewart platform. In AIAA Modeling and Simulation Technologies Conference 2010 (pp. 1007-1019). Red Hook, NY, USA: Curran.


Zitierlink: http://hdl.handle.net/11858/00-001M-0000-0013-BEBA-1
Zusammenfassung
A simulated model of the MPI Stewart platform can be used to identify the influence of motion system characteristics on human control behaviour in active closed-loop control experiments on the SIMONA Research Simulator. In this paper, a previously identified model of the MPI Stewart platform was analysed with describing function measurements, and it was found that a reduced form of the model was sufficient to capture the relevant dynamics. The reduced model was simulated on the SIMONA Research Simulator and describing function measurements were performed with two IMUs. Both IMUs revealed a resonance peak in measurements of response magnitude at the highest frequencies. A reduced time delay was found with the newer IMU. With the describing function measurements, the implementation of the MPI Stewart platform model was validated in terms of the frequency response and the time delay.