The Importance of Kinematic Configurations for Motion Control of Driving Simulators

Maurice Kolff; Joost Venrooij; Markus Schwienbacher; Daan M. Pool; Max Mulder

doi:10.1109/ITSC57777.2023.10422127

The Importance of Kinematic Configurations for Motion Control of Driving Simulators

Maurice Kolff, Joost Venrooij, Markus Schwienbacher, Daan M. Pool, Max Mulder

Control & Simulation

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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Abstract

This paper describes how the kinematic configuration of a driving simulator's motion system affects the rendered inertial motion. The specific force and rotational rate equations between the point where the motion is applied (Motion Reference Point (MRP)), and the point in which the driver perceives the motion (Cueing Reference Point (CRP)), are derived for three kinematic configurations: (i) a hexapod, (ii) a hexapod with an xy-drive and a yaw-drive below, and (iii) the same system as (ii), but with the yaw-drive on top. The rotational rate equations show that having a yaw-drive on top greatly complicates the motion control. Furthermore, simulation results show that, regardless of the yaw-drive location, the difference between MRP and CRP becomes noticeable for large yaw-drive excitations. For such driving simulators, the positional offset between MRP and CRP can therefore not be ignored, complicating the motion control.

Original language	English
Title of host publication	2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023
Publisher	IEEE
Pages	1000-1006
Number of pages	7
ISBN (Electronic)	9798350399462
DOIs	https://doi.org/10.1109/ITSC57777.2023.10422127
Publication status	Published - 2023
Event	26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023 - Euskalduna Conference Centre, Bilbao, Spain Duration: 24 Sept 2023 → 28 Sept 2023 https://2023.ieee-itsc.org/

Publication series

Name	IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
ISSN (Print)	2153-0009
ISSN (Electronic)	2153-0017

Conference

Conference	26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023
Abbreviated title	IEEE ITSC 2023
Country/Territory	Spain
City	Bilbao
Period	24/09/23 → 28/09/23
Internet address	https://2023.ieee-itsc.org/

Bibliographical note

Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public

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10.1109/ITSC57777.2023.10422127

The_Importance_of_Kinematic_Configurations_for_Motion_Control_of_Driving_SimulatorsFinal published version, 1.62 MB

Cite this

Kolff, M., Venrooij, J., Schwienbacher, M., Pool, D. M., & Mulder, M. (2023). The Importance of Kinematic Configurations for Motion Control of Driving Simulators. In 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023 (pp. 1000-1006). (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). IEEE. https://doi.org/10.1109/ITSC57777.2023.10422127

@inproceedings{d35cf33ae0234956b1205fe88f0e6955,

title = "The Importance of Kinematic Configurations for Motion Control of Driving Simulators",

abstract = "This paper describes how the kinematic configuration of a driving simulator's motion system affects the rendered inertial motion. The specific force and rotational rate equations between the point where the motion is applied (Motion Reference Point (MRP)), and the point in which the driver perceives the motion (Cueing Reference Point (CRP)), are derived for three kinematic configurations: (i) a hexapod, (ii) a hexapod with an xy-drive and a yaw-drive below, and (iii) the same system as (ii), but with the yaw-drive on top. The rotational rate equations show that having a yaw-drive on top greatly complicates the motion control. Furthermore, simulation results show that, regardless of the yaw-drive location, the difference between MRP and CRP becomes noticeable for large yaw-drive excitations. For such driving simulators, the positional offset between MRP and CRP can therefore not be ignored, complicating the motion control.",

author = "Maurice Kolff and Joost Venrooij and Markus Schwienbacher and Pool, {Daan M.} and Max Mulder",

note = "Green Open Access added to TU Delft Institutional Repository {\textquoteleft}You share, we take care!{\textquoteright} – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public; 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023, IEEE ITSC 2023 ; Conference date: 24-09-2023 Through 28-09-2023",

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doi = "10.1109/ITSC57777.2023.10422127",

language = "English",

series = "IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC",

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Kolff, M, Venrooij, J, Schwienbacher, M, Pool, DM & Mulder, M 2023, The Importance of Kinematic Configurations for Motion Control of Driving Simulators. in 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC, IEEE, pp. 1000-1006, 26th IEEE International Conference on Intelligent Transportation Systems, ITSC 2023, Bilbao, Spain, 24/09/23. https://doi.org/10.1109/ITSC57777.2023.10422127

The Importance of Kinematic Configurations for Motion Control of Driving Simulators. / Kolff, Maurice; Venrooij, Joost; Schwienbacher, Markus et al.
2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. IEEE, 2023. p. 1000-1006 (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC).

Research output: Chapter in Book/Conference proceedings/Edited volume › Conference contribution › Scientific › peer-review

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AU - Venrooij, Joost

AU - Schwienbacher, Markus

AU - Pool, Daan M.

AU - Mulder, Max

N1 - Green Open Access added to TU Delft Institutional Repository ‘You share, we take care!’ – Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public

PY - 2023

Y1 - 2023

N2 - This paper describes how the kinematic configuration of a driving simulator's motion system affects the rendered inertial motion. The specific force and rotational rate equations between the point where the motion is applied (Motion Reference Point (MRP)), and the point in which the driver perceives the motion (Cueing Reference Point (CRP)), are derived for three kinematic configurations: (i) a hexapod, (ii) a hexapod with an xy-drive and a yaw-drive below, and (iii) the same system as (ii), but with the yaw-drive on top. The rotational rate equations show that having a yaw-drive on top greatly complicates the motion control. Furthermore, simulation results show that, regardless of the yaw-drive location, the difference between MRP and CRP becomes noticeable for large yaw-drive excitations. For such driving simulators, the positional offset between MRP and CRP can therefore not be ignored, complicating the motion control.

AB - This paper describes how the kinematic configuration of a driving simulator's motion system affects the rendered inertial motion. The specific force and rotational rate equations between the point where the motion is applied (Motion Reference Point (MRP)), and the point in which the driver perceives the motion (Cueing Reference Point (CRP)), are derived for three kinematic configurations: (i) a hexapod, (ii) a hexapod with an xy-drive and a yaw-drive below, and (iii) the same system as (ii), but with the yaw-drive on top. The rotational rate equations show that having a yaw-drive on top greatly complicates the motion control. Furthermore, simulation results show that, regardless of the yaw-drive location, the difference between MRP and CRP becomes noticeable for large yaw-drive excitations. For such driving simulators, the positional offset between MRP and CRP can therefore not be ignored, complicating the motion control.

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Kolff M, Venrooij J, Schwienbacher M, Pool DM , Mulder M. The Importance of Kinematic Configurations for Motion Control of Driving Simulators. In 2023 IEEE 26th International Conference on Intelligent Transportation Systems, ITSC 2023. IEEE. 2023. p. 1000-1006. (IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC). doi: 10.1109/ITSC57777.2023.10422127

The Importance of Kinematic Configurations for Motion Control of Driving Simulators

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