Modeling a human centrifuge as three-DoF robot manipulator

In this paper principles of modeling of a human centrifuge for pilot training, as a 3 DoF manipulator, are presented. The basis is a kinematic and dynamic model of the manipulator. The centrifuge represents a manipulator with three revolute joints. According to the D-H convention transformation matrices for the manipulator were derived. The problem of direct and inverse kinematics and dynamics is briefly explained. In order to control the centrifuge, control algorithms were developed and tested. New solutions for the forward and inverse kinematics and dynamics of the centrifuge will be integrated in the off-line and real-time parts of the control system, that contains the previously developed path planner adapted to novel commands.