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Conference Paper

Towards Real-Time Aircraft Simulation with the MPI Motion Simulator

MPS-Authors
http://pubman.mpdl.mpg.de/cone/persons/resource/persons84877

Pollini,  L
Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84174

Innocenti M, Robuffo Giordano,  P
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons84255

Teufel,  H
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

http://pubman.mpdl.mpg.de/cone/persons/resource/persons83839

Bülthoff,  HH
Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society;

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Citation

Niccolini, M., Pollini, L., Innocenti M, Robuffo Giordano, P., Teufel, H., & Bülthoff, H. (2009). Towards Real-Time Aircraft Simulation with the MPI Motion Simulator. In AIAA Modeling and Simulation Technologies Conference 2009 (pp. 623-632). Red Hook, NY, USA: Curran.


Cite as: http://hdl.handle.net/11858/00-001M-0000-0013-C38F-F
Abstract
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.