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Abstract

The paper describes the recent advancements gained on the MPI motion simulator project. The aim of this project is the use of an anthropomorphic 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 Stewart 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 and superior alternative [1,2]. The paper addresses the use of a new inverse kinematics algorithm 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.