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

Studies the kinematics, dynamics and control algorithms for a centrifuge motion simulator. The centrifuge is modeled as a three revolute joint manipulator. Various approaches for solving the joint velocities and joint accelerations are studied with the prescribed trajectory at the end effector (of the pilot) specified a priori. The authors then establish the dynamic model for the centrifuge. 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. Simulations of trajectory control based on these control laws are performed