METHOD FOR WEIGHT AND POSITION OF 6-DOF MOTION PLATFORM

摘要

The present invention relates to a method for estimating the load weight and position of a 6-DOF motion platform that enables the subsequent process of the motion simulator to be executed by estimating the position and weight of the center of gravity of the motion platform that mechanically operates the motion simulator, and the boarding vessel is seated In a motion platform in which a mounting pad is supported and operated by six linear actuators, there is no driving load other than the basic load of the mounting pad, and the weight of the basic load is located at the origin in the basic posture of the mounting pad. a first step in which a sensor senses and collects the basic torque of the servo motor for each linear actuator; A second step in which the servomotor controller controls the servomotor to set the mounting pad to the basic posture in a state where the driving load weight is present on the mounting pad, and the servomotor torque sensor senses and collects the driving torque for each linear actuator ; a third step in which the load recognition module applies the driving torque to a Jacobian algorithm, calculates the sum of the Z-direction loads applied to the mounting pad, and checks the driving load weight; and a fourth step in which the position recognition module calculates and confirms the driving load position by applying the driving torque to the Jacobian algorithm.