Towards Real-Time Aircraft Simulation with the MPI Motion Simulator

摘要

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. I. Motion Platform and Washout Filters he MPI Motion Simulator is based on the industrial robot Robocoaster, manufactured by KUKA Roboter GmbH, which has been modified for use as a real-time motion simulator [2]. The logical structure of the whole system is shown in Figure 1 where the main function blocks are highlighted.