TY - GEN
T1 - Towards real-time aircraft simulation with the MPI motion simulator
AU - Niccolini, Marta
AU - Pollini, Lorenzo
AU - Innocenti, Mario
AU - Giordano, Paolo Robuffo
AU - Teufel, Harald J.
AU - Bülthoff, Heinrich H.
N1 - Copyright:
Copyright 2020 Elsevier B.V., All rights reserved.
PY - 2009
Y1 - 2009
N2 - The paper describes the recent advancements gained on the MPI motion simulator project. The aim of this project is the use of an anthropomorphic robot as actuation system for a motion platform intended for real time flight simulation. Almost all commercially available motion platforms rely on the so called Stewart platform, that is a 6-DOF platform that can bear high payloads and can achieve high accelerations. On the other hand an anthropomorphic manipulator offers a larger range of motion and higher dexterity, that let envisage this novel motion simulator as a viable and superior alternative [1,2]. The paper addresses the use of a new inverse kinematics algorithm capable of keeping joint velocities and accelerations within their limits. Preliminary experimental results performed using the proposed algorithm along with possible further improvements are discussed.
AB - The paper describes the recent advancements gained on the MPI motion simulator project. The aim of this project is the use of an anthropomorphic robot as actuation system for a motion platform intended for real time flight simulation. Almost all commercially available motion platforms rely on the so called Stewart platform, that is a 6-DOF platform that can bear high payloads and can achieve high accelerations. On the other hand an anthropomorphic manipulator offers a larger range of motion and higher dexterity, that let envisage this novel motion simulator as a viable and superior alternative [1,2]. The paper addresses the use of a new inverse kinematics algorithm capable of keeping joint velocities and accelerations within their limits. Preliminary experimental results performed using the proposed algorithm along with possible further improvements are discussed.
UR - http://www.scopus.com/inward/record.url?scp=77958196225&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77958196225&partnerID=8YFLogxK
U2 - 10.2514/6.2009-5918
DO - 10.2514/6.2009-5918
M3 - Conference contribution
AN - SCOPUS:77958196225
SN - 9781563479786
T3 - AIAA Modeling and Simulation Technologies Conference
BT - AIAA Modeling and Simulation Technologies Conference
PB - American Institute of Aeronautics and Astronautics Inc.
ER -