6-DOF Motion-Platform Control Algorithms

Control Principle

Six servo motors drive six parallel electric cylinders supporting the moving platform. By coordinating their extension, the controller produces translation along X, Y and Z and rotation about those axes: roll, pitch and yaw.

Inverse kinematics converts the requested platform pose into actuator position and velocity commands. Position and velocity feedback close the servo loops, allowing the platform to follow a planned trajectory and stop accurately at the target pose. Forward kinematics may be used to estimate the actual pose from measured actuator lengths.

Control-System Functions

• Position control: coordinated actuator commands within the permitted workspace
• Limits: alarm and protective action if an actuator exceeds its safe range
• Servo alarms: overload, encoder communication, vibration, battery and overheating protection
• Human-machine interface: parameters, commands, platform pose, actuator feedback, curves and operating status
• Emergency stop: immediate safe shutdown for serious faults
• Homing and positioning: automatic return to zero or a specified pose
• Self-test: startup checks and status reporting for control modules