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This article discusses the development of an adaptive protection algorithm which is based on a physical approach, with the purpose to keep a closed loop aircraft with manual control laws within the actual safe flight envelope, even in the presence of failures or disturbances. Adaptive estimation of the flight envelope guarantees that not only flap changes, but also damage (e.g. icing) and external...
Motion simulators based on industrial robots can produce high dynamic accelerations and velocities compared to classical hydraulic hexapod systems. In case of emergency stops, large and possibly harmful accelerations can occur. This paper aims to provide an optimization procedure to generate worst case trajectories in order to test for these harmful accelerations, by maximizing the kinetic energy...
The DLR Robot Motion Simulator is a serial kinematics based platform that employs an industrial robot (as opposed to the conventional ‘Hexapod’) to impart motion cues to the attached simulator cell. This simulation platform is the culmination of ongoing research on motion simulation at the Robotics and Mechatronics Center, German Aerospace Center (DLR). Safety tests were undertaken to ascertain the...
In recent years a new generation of motion simulators, based on serial kinematics industrial robots, emerged as alternative to the currently prevalent Steward-platforms. This paper presents the newest addition to this: The DLR Robot Motion Simulator.
In Part I of this paper, a novel motion simulator platform is presented, the DLR Robot Motion Simulator with 7 degrees of freedom (DOF). In this Part II, a path-planning algorithm for mentioned platform will be discussed. By replacing the widely used hexapod kinematics by an antropomorhic, industrial robot arm mounted on a standard linear axis, a comparably larger workspace at lower hardware costs...
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