On the problem of constructing a manipulator control during motion cueing of an aircraft flight

Abstract

For high-quality pilot training, there is a need to use simulators that allow to carry out training in conditions that are closest to real ones. The simulator is supposed to be based on a six-joint robot manipulator with sequentially connected links and operator's cabin on its end. The stand mathematical support includes motion cueing algorithms, consisting of two phases: the motion simulation phase and the phase of return from the working area boundary to its center. During the motion imitation phase, the manipulator's end effector must move in such a way that the accelerations acting on the operator's sensitive masses coincide in direction and magnitude, if it is possible, with those that would act on him during a real flight. Moreover, motion cueing algorithms may differ for particular maneuvers, because in order to construct high-quality motion cueing algorithms, it is often necessary to take into account the performed movement peculiarities. During the returning phase, the values of velocities and accelerations acting on the operator should not exceed threshold values to not disrupt the presence effect. To build motion cueing algorithms, it is also necessary to determine the manipulator working area. This paper presents some results of work on the motion cueing algorithms construction: a description of the manipulator working area, a solution to the problem of returning the manipulator end effector to the working area center in the presence of restrictions on the developed acceleration magnitude.

Keywords:

motion cueing, optimal control, Pontryagin's maximum principle, synthesis of optimal control, multi-link manipulator, kinematic control