Towards Real-Time Aircraft Simulation with the MPI Motion Simulator

The paper describes the recent advancements gained on the MPI motion simulator project. The aim of this project is the use of an a nthropomorphic robot as actuation system for a motion platform intended for real time flight simulation. Almost all commercially available motion platforms rely on the so called St ewart platform, that is a 6-DOF platform that can bear high payloads and can achieve high accelerations. On the other hand an anthropomorphic manipulator offers a larger range of motion and higher dexterity, that let envisage this novel motion simulator as a viable an d superior alternative [1,2]. The paper addresses the use of a new inverse kinematics algor ithm capable of keeping joint velocities and accelerations within their limits. Preliminary experimental results performed using the proposed algorithm along with possible further improvements are discussed.