The paper "Optimal Motion Cueing Algorithm Using Motion System Kinematics" by M. Aminzadeh, A. Mahmoodi, and M. Sabzehparvar formulates the geometric constraint terms in the cost function in terms of joint and actuator variables rather than operation or workspace variables. Indeed, the expression of motion platform constraints in actuator variables would be a better representative of motion system limits since all the motion system constraints are explicitly known vs. actuator variables which are, for the case of a 6D0F parallel motion platform, actuator lengths limits and actuator extension rate limits. From both physical and mathematical point of view this representation of actuator constraints is more useful and allows the solution of the optimal problem to yield a result with better assurance of satisfying motion system constraints when they are close to limits and a result with better usage of motion platform workspace to produce better motion sensation when motion constraints are far from the limits.
展开▼
