Inverse Kinematic Control Algorithms With a Reduced Coriolis Component for Use in Motion Simulators

[+] Author and Article Information
D. W. Repperger

Armstrong Laboratory AL/CFBS BLDG 29, 2245 Third Street, Wright-Patterson AFB, OH 45433-7008

J. Dyn. Sys., Meas., Control 117(4), 570-577 (Dec 01, 1995) (8 pages) doi:10.1115/1.2801116 History: Received October 12, 1993; Online December 03, 2007


A motion simulator is studied within the framework of a multilink robotic manipulator and a class of inverse kinematic algorithms are investigated. Human subjects, for this motion simulator, sit at the end effector and are subjected to all relative motions of the respective links. From the perspective of the subject, one undesired artifact of this simulation occurs when Coriolis accelerations are induced at the end effector as a consequence of a coordinate frame moving relative to another moving frame. This paper adapts the inverse kinematic solution to those which have a minimum Coriolis component and can be used to control the motion simulator. A simple feedback control law is derived which, it turns out, has an additional interpretation as the solution of a related linear quadratic optimization problem.

Copyright © 1995 by The American Society of Mechanical Engineers
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