Research into the kinematic singularity problem of an all-attitude simulator and its control

All-attitude flight simulators can simulate flight attitude through three rotational degrees of freedom. In this paper, the inverse kinematics and singularity of the all-attitude simulator are analyzed. Because a singularity will reduce the fidelity of the flight attitude simulation, we investigated ways to resolve this problem. An approximate method for quickly quantifying singularities is proposed. Static damping and dynamic damping are designed to optimize the singularity of the all-attitude simulator and improve the fidelity of flight attitude simulation. Attitude data of typical flight movements, whose inverse kinematics has an obvious singular position, are used to test the two methods. The results of the simulation show that the two methods are feasible and effective, and that dynamic damping has better control over singular excesses than static damping.