Design and Implementation of Inverse Kinematics and Motion Monitoring System for 6DoF Platform

Abstract

Six-axis motion platforms have a low contraction height and a high degree of freedom. First of all, the designed six-axis crank arm platform, including the motor, reducer, crank arm, link, platform support arm, and upper and lower platforms, can be designed for different bearing requirements. Secondly, it uses a coordinate transform and kinematics theory to derive each motor rotor angle. A set of platform data acquisition (DAQ) monitoring modules was established, and the LabVIEW programming language was used to write measurement software. The monitoring items include displacement, speed, and acceleration, which can be displayed on the screen and recorded by an industrial computer in real time and dynamically. Then, an RS-485 or RS-232 communication transmission interface was used to provide the control system with the related movement information. Finally, an industrial computer combined with a motion control card was used as a control kernel to realize the control algorithms, internet module function, I/O write and read signals, firmware integration, and human–machine interface message. The experimental results validate the appropriateness of the proposed method.

Real Coded Mixed Integer Genetic Algorithm for Geometry Optimization of Flight Simulator Mechanism Based on Rotary Stewart Platform

“…This method is used to test each position and orientation within the workspace. The motion monitoring system for the Stewart platform is presented in paper [62], and it can be used for verification. There are also vision-based control systems, as described in [63] that can also be used for monitoring and verification of motion.…”

Modelling and Control of Mechatronic and Robotic Systems, Volume II

“…A novel cable guidance system is illustrated, which allows for a simple kinematic model to control the manipulator. The work of [15] describes the design and implementation of a platform with six degrees of freedom used as a motion simulator. The inverse kinematic model of the robotic platform and its position-control system are implemented and verified with experimental results.…”

Design and Control of a Multi-Axis Servo Motion Chair System Based on a Microcontroller

“…However, the sense of contact of the human body is different from the sense of space produced by a platform with six degrees of freedom. Several researchers have investigated and improved this framework, including a discussion identifying the relationship of six-axis motion with each actuator based on kinematics [7,8] and a discussion of how compensating for the perturbation rate of the load improves positioning accuracy [9].…”