Command assignment method of a serial-parallel hybrid flight simulator

To avoid the kinematics singularity and thus to implement high dynamic and large-angle maneuvering flight simulation, a kind of serial-parallel hybrid flight simulator are proposed featuring redundant manipulator mechanism. For the command assignment problem of the serial-parallel hybrid flight simulator, pseudo-inverse and gradient projection methods are used to obtain optimal velocity solution. Then, a velocities compensation unit is designed. When some of the joint velocities are in saturation other joints compensate for the lack of the velocity and the velocity in the task space remains unchanged. The proposed command assignment algorithm can fully utilize the drive ability of the each joint, achieve desired positions and attitudes, as well as can avoid kinematics singularity. Simulation results also illustrate the advantages of using such a method proposed in this paper.