Realtime pathplanning for an interactive and industrial robot based motion simulator

A new path-planning algorithm for a motion simulator based on an industrial robot is introduced and compared with the classical washout filter. The algorithm calculates the path of the simulator cell via the solution of an optimization problem with constraints like the workspace of the simulator or maximum joint angle accelerations. Several test results are presented in order to validate the new algorithm. A calculated trajectory is applied to the target robot in order to compare the simulated accelerations with the measured accelerations of the simulator cell.