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Motion planning and simulation for a 6-DOF earthquake simulator

Victor Rosenzveig


This thesis deals with the motion planning of a 6-dof earthquake simulator. The earthquake simulator has a parallel architecture which is exhibits a novel actuation redundancy. First, different earthquake waves models are taken into account (including a new empirical NN-based approach). Then, strong motion data from specific recorded earthquakes is used to create the motion of the simulator in order to reproduce the surface movement. Next, a multibody system approach is used to synthesise the earthquake simulator. This model, developed using MatLab is then compared to the ADAMS model of the system, which uses the same mathematical foundation. Finally, simulations are run using Simulink to test the behaviour of the model under certain conditions, as well as evaluate different control schemes.
Record ID
Diploma type
Master of Science
Victor Rosenzveig (FPAE) Victor Rosenzveig,, Faculty of Power and Aeronautical Engineering (FPAE)
Title in Polish
Symulacja symulatora trzęsień ziemi i sześciu stopniach swobody
Antonio Sgorbissa Antonio Sgorbissa,, Undefined Affiliation
Certifying unit
Faculty of Power and Aeronautical Engineering (FPAE)
Affiliation unit
The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)
(en) English
Defense Date
Issue date (year)
Internal identifier
MEL; PD-1977
Teresa Zielińska (FPAE/IAAM) Teresa Zielińska,, The Institute of Aeronautics and Applied Mechanics (FPAE/IAAM)Faculty of Power and Aeronautical Engineering (FPAE) Antonio Sgorbissa Antonio Sgorbissa,, Undefined Affiliation Chenkun Qi Chenkun Qi,, Undefined Affiliation
Keywords in Polish
symulatora trzesien ziemi, równoległy robota, układ wieloczłonowy
Keywords in English
earthquake simulator, parallel robot, multibody system, simulation
Abstract in Polish
Symulator ma unikalna strukture szeregowa, celem pracy jest synteza jego ruchu. Wpierwszej czesci pracy przeanalizowano rózne modele fal propagacji trzesienia ziemi. Zachowanie symulatora było planowane z wykorzystaniem rzeczywistych danych pomiarowych. Do syntezy zachowania symulatora zastosowano metode układów wieloczłonowych. Porównano modele opracowane w MATLABie i w ADAMSie. Do testowania symulatora w róznych warunkach pracy oraz do syntezy metod sterowania wykorzystano model opracowany w Simulinku.
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    Rosenzveig - Thesis - Motion Planning and Simulation for a 6.pdf
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