Simulación de Plataformas Robóticas de Movimiento para Aplicaciones de Realidad Virtual Mediante Filtros Digitales

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.