Adaptive washout algorithm based on the parallel mechanism motion range

Because the channels of the adaptive washout algorithm are independent, the fidelity of motion cues has to be reduced to keep the actuators of the steward platform not to out of range when the platform is in the compound motion. To solve this problem, a novel method is presented that the motion range of every degree of freedom is introduced into the cost function. According to this method, the possibility that actuator is out of range causing by the platform compound motion is reduced. So the algorithm parameters can be tuned more open up to improve the fidelity of motion cues. The improved washout algorithm is tested by using the takeoff and landing data. The results indicate that this algorithm can use the entire platform motion range to expand the frequency-width of the motion cues signal. So this algorithm can improve the motion cues fidelity.