I want to learn how to control a "motion base". This is the kind of 6DOF base we see under flight simulators that are built with six linear actuators.
I spent some time trying to re-invent this wheel but I may not live long enough to finish re-inventing it.
What I'd like is a link to a paper or even better a link to some open source software I could look at.
My goal is to experiment using one of these 6DOF platforms in a wrist joint. What's stumped me is that in a classic robot arm there is are rigid structures connected by small DOF joints. In the motion base there is no structure, only actuators.
Just so we are all talking about the same thing here is a photo.
http://www.moog.com/images/Product…_60_14000KG.jpg