Performance analysis and dexterity monitoring of hexapod-based simulator

Washout filter is in demand to generate the vehicle acceleration and angular velocities with high loyalty to make the best realistic motion. The limitation of the simulator's moving platform is an integral part of every motion simulator. Adaptive and model predictive control washout filters contribute with this limitation online. It is necessary to have a real vision to the workspace limitation which is needed for unpredicted next step of the simulator. In this paper dexterity analysis is addressed as a novel method to monitor the performance accuracy of the simulator. The dexterity of both the classical and optimal washout filters are compared. Finally, it is shown that the dexterity analysis in optimal washout filter is necessary to avoid the workspace limitations.

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2018 4th International Conference on Control, Automation and Robotics (ICCAR)

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978-1-5386-6338-7

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