A study of the kinematics, dynamics and control algorithms for a centrifuge motion simulator

Author

Chen, Yu-Che ; Repperger, D.W. ; Roberts, Rodney

Author_Institution

Dept. of Mech. Eng., Tulsa Univ., OK, USA

Volume

3

fYear

1995

fDate

21-23 Jun 1995

Firstpage

1901

Abstract

Studies the kinematics, dynamics and control algorithms for a centrifuge motion simulator. The centrifuge is modeled as a three revolute joint manipulator. Various approaches for solving the joint velocities and joint accelerations are studied with the prescribed trajectory at the end effector (of the pilot) specified a priori. The authors then establish the dynamic model for the centrifuge. In order to command the end effector (or the seat in the centrifuge) to follow the prescribed trajectory, various optimal control algorithms are studied and control laws based on the concepts of feedback linearization are derived for the motion control of the centrifuge. Simulations of trajectory control based on these control laws are performed

Keywords

feedback; linearisation techniques; manipulator dynamics; manipulator kinematics; optimal control; position control; centrifuge motion simulator; dynamic model; dynamics; feedback linearization; joint accelerations; joint velocities; kinematics; motion control; optimal control algorithms; three revolute joint manipulator; trajectory control; Acceleration; Aerospace simulation; End effectors; Feedback; Heuristic algorithms; Kinematics; Manipulator dynamics; Motion control; Optimal control; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, Proceedings of the 1995

Conference_Location

Seattle, WA

Print_ISBN

0-7803-2445-5

Type

conf

DOI

10.1109/ACC.1995.531218

Filename

531218