Method for controlling the position of a moving solid moved by actuators in at least two rotational degrees of freedom and mobile platform for carrying out such a method

摘要

The procedure utilizes a quaternion interpolation of the position vectors of the simulator platform. Each successive movement of the platform produces an interpolation that results in a final position for the platform being given. Interpolations for each driver are calculated in conjunction with one another. Command signals pass through a central calculator (1) where the signal is calculated (2) and formed into a quaternion vector (2). This is interpolated (4) and transformed (5) to provide and interpolated signal (7) that produces an interpolated motor position (9). This generates a command signal (10) for the motor. An Independent claim is included for a mobile solid that has two degrees of movement and rotation, or more, that is moved under the action of electric motors controlled by the described process.