Command assignment method with compensation unit for serial-parallel hybrid flight simulator

A serial-parallel hybrid flight simulator was proposed to implement high dynamic and large-angle maneuvering flight simulation. The simulator combines the characteristics of series manipulator and parallel manipulator. For command assignment problem of the serial-parallel hybrid flight simulator, pseudo-inverse and gradient projection methods were used to obtain optimal solution with weighted at the velocity level. Then, a compensation unit of velocity and acceleration was designed for the compensation of the joint velocity and acceleration saturation. The compensation unit based on the velocity and acceleration redistribution was designed. When some of the joint velocities or accelerations are in saturation other joints compensate for the lack of the velocity or acceleration. Thus, this simulator can implement higher dynamic flight simulation. The proposed command assignment algorithm achieves desired position and attitudes, avoid kinematics singularity, and drive ability of the each joint is fully utilized.