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

The advent of supermaneuverable flight trajectories for high performance aircraft initiates new research areas involving human factors' effects on pilots when they fly these unusual flight scenarios. This institutes a need to conduct studies in motion simulators such as centrifuges to investigate how these unusual motion fields affect humans' physiology and how they influence the ability of a pilot to perform a mission. A study is conducted on the kinematics, dynamics and control algorithms for a centrifuge motion simulator. The centrifuge is modeled as a three-joint revolute manipulator. Algorithms for solving the joint velocities and joint accelerations are quite different from those used in conventional manipulators. 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. Copyright (C) 1996 Elsevier Science Ltd.