Title :
Design of a controller to enhance a motion simulator´s performance based upon linear acceleration fidelity
Author :
Repperger, D.W. ; Roberts, R.G.
Author_Institution :
Armstrong Lab., Wright-Patterson AFB, OH, USA
Abstract :
A study on controller design involving linear acceleration fidelity is conducted when a large motion simulator is modeled as a robotic system. A full dynamic simulation is performed which includes the manipulator´s kinematics, dynamics, actuator dynamics, and the controller´s characteristics
Keywords :
Jacobian matrices; control system synthesis; manipulator dynamics; manipulator kinematics; three-term control; actuator dynamics; controller characteristics; controller design; dynamic simulation; kinematics; linear acceleration fidelity; motion simulator; robotic system; Acceleration; Actuators; End effectors; Error correction; Jacobian matrices; Kinematics; Laboratories; Manipulator dynamics; Motion control; Robots;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411069
