Kinematics analysis of a novel all-attitude flight simulator |
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Authors: | WANG XiaoChen ZHAO Hui MA KeMao HUO Xin & YAO Yu Control Simulation Center Harbin Institute of Technology Harbin China |
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Affiliation: | WANG XiaoChen,ZHAO Hui,MA KeMao,HUO Xin & YAO Yu Control , Simulation Center,Harbin Institute of Technology,Harbin 150080,China |
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Abstract: | To overcome the kinematic singularity limitation of simulator, which is unavoidable in a three-axis architecture, an all-attitude flight simulator in a four-axis architecture is proposed. The simulator can always provide 3DOF motion by applying redundant manipulator mechanism. For direct kinematics of the manipulator, a dual-Euler method is adopted to solve the expressions of attitude angles; thus computation singularity of all- attitude angles is overcome. For inverse kinematics of the manipulator, pseudo-... |
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Keywords: | all-attitude flight simulator kinematic singularity direct kinematics inverse kinematics |
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