Intellectual Systems and Technologies

Control algorithms for the 3DOF dynamic motion platform

R. A. Ganin^a, D. V. Kazunin<sup>b

a</sup> Kronshtadt Technologies
^b Saint Petersburg State University

Abstract: In this paper, basic control strategies of the 3DOF dynamic motion platform for vehicle simulators are considered. The significance of the motion platform in automotive and special vehicle simulators is emphasized in the beginning of the article. According to the kinematics of the 3DOF motion platform with crank gears, forward and inverse kinematics equations are obtained. The workspace of the platform is calculated from the forward kinematics equations and presented as a 3D-figure in platform space. The algorithm of trajectory-planning with respect to the obtained workspace is introduced. Experimental research of the controller in the task space and joint space is conducted. In conclusion, further research problems in this area are discussed.

Keywords: motion platform, vehicle simulatiors, workspace, position controller, inverse kinematics problem.

UDC: 62-523.2:004.896

DOI: 10.18721/JCSTCS.10106