On the Problem of Constructing a Manipulator Control during the Motion-Cueing Simulation of an Aircraft Flight

For high-quality pilot training, there is a need to use dynamic simulators that allow training in conditions that are closest to real ones. The simulator is supposed to be based on a six-link robot manipulator with sequentially connected links. The operator working on the simulator is fixed at the end of this manipulator. The mathematical support for the rig includes motion-cueing algorithms consisting of two phases: the motion-simulation phase and the phase of return from the boundary of the working area to its center. During the motion-simulation phase, the end effector of the manipulator must move in such a way that the accelerations acting on the operator’s sensitive masses coincide in direction and magnitude, if possible, with those that would act on them during a real flight. Moreover, motion-cueing algorithms may differ for certain maneuvers, since it is often necessary to take into account the peculiarities of the movement performed by the aircraft in order to construct high-quality motion-cueing algorithms. During the phase of returning the end effector of the manipulator to the center of the working area, the values of the velocities and accelerations acting on the operator’s sensitive masses should not exceed the threshold values so as not to disrupt the presence effect. To design motion-cueing algorithms, it is also necessary to determine the working area of the manipulator. This work presents some results of studying the construction of motion-cueing algorithms: namely, a description of the manipulator working area is given and a solution to the extremal problem of returning the manipulator end effector to the center of the working area is presented under constraints on the magnitude of the developed acceleration.