Inverse kinematic control algorithms with a reduced Coriolis component for use in motion simulators

摘要

A motion simulator is studied within the framework of a multilink robotic manipulator and a class of inverse kinematic algorithms are investigated. Human subjects, for this motion simulator, sit at the end effector and are subjected to allrelative motions of the respective links. From the perspective of the subject, one undesired artifact of this simulation occurs when Coriolis accelerations are induced at the end effector as a consequence of a coordinate frame moving relative to anothermoving frame. This paper adapts the inverse kinematic solution to those which have a minimum Coriolis component and can be used to control the motion simulator. A simple feedback control law is derived which, it turns out, has an additional interpretation as the solution of a related linear quadratic optimization problem.