# Advanced Servo Control and AI Integration in 3-DoF Platforms for Enhanced Simulation Interactivity
## 6 Conclusions  
This study developed a 3-DoF shooting platform that combines interactivity with virtual reality to achieve high-fidelity effects. Participants can control the roll, pitch, and yaw axes using a joystick, while the roll axis movement is partially determined by the visual effects computer based on the target aircraft's attitude. When encountering attacks from AI opponents, the platform generates shaking on the roll axis, enhancing immersion in the virtual reality environment. ILC is employed to mitigate mechanical backlash in the 3-DoF servos, complemented by network connectivity and integration with visual effects computer scenes. This setup produces fully immersive 3D stereoscopic images, making participants feel as if they are in a real-world scenario. The experimental results reveal the simulator's advanced capabilities in several critical areas. Firstly, the system demonstrates exceptional precision and responsiveness in servo control, ensuring smooth and accurate movements of the platform. Secondly, the visual effects interaction is highly realistic, with dynamic and responsive visual feedback that enhances the overall user experience. The 3-DoF control is effective and intuitive, allowing users to engage with the simulation naturally and accurately. Finally, the hardware development is robust and reliable, providing a stable and high-performance foundation for the simulation system. Overall, the experimental  
Figure 23: Measured response of interaction between second segment virtual scene and physical sphere: (**a**) angle; (**b**) angular velocity; and (**c**) angular acceleration.  
\begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Item** & **DoF** & **Stroke** & **Velocity** & **Figure** \\ \hline Normal & & & & \\ operation & Roll/Pitch/Yaw & \(-180\) to \(180^{\circ}\) & \(-40\) to \(40^{\circ}\)/s & Figure 18 \\ \hline Zero & Roll & \(\pm 130^{\circ}\) & \(3^{\circ}\)/s & Figure 19 \\ initialization & Pitch/Yaw & \(\pm 150^{\circ}\) & \(4^{\circ}\)/s & Figure 20 \\ \hline Personnel entry & & & & \\ into the & & & & \\ simulator & & & & \\ \hline Servos operate & & & & \\ in passive mode & Pitch & \(-25\) to \(20^{\circ}\) & \(-12\) to \(13^{\circ}\)/s & Figure 22 \\ (first segment & & & \(0^{\circ}\) & \(0^{\circ}\)/s & Figure 22 \\ virtual scene) & & & & \\ \hline Servos operate & & & & \\ in active mode & & & & \\ (second segment & & & & \\ virtual scene) & & & & \\ \hline \hline \end{tabular}
\end{table}
Table 3: Quantitative comparison of proposed method effectiveness.  
outcomes confirm the feasibility and effectiveness of the developed three-axis shooting platform, achieving a high level of immersion and coordination with AI-controlled enemy aircrafts. This innovative approach sets a new standard for shooting simulation systems, emphasizing the integration of advanced control mechanisms, realistic visual effects, and interactive elements to create a compelling and engaging user experience. Future research should address several limitations of the current approach. One potential area is the development of adaptive control algorithms to improve the system's response to varying loads and dynamic conditions. Additionally, integrating augmented reality (AR) with virtual reality VR could create even more immersive training environments, enhancing the overall effectiveness of the system.  
Conceptualization, M.-Y.W.; methodology, M.-Y.W. and H.-C.Y.; software, M.-Y.W. and H.-C.Y.; validation, M.-Y.W. and H.-C.Y.; resources, M.-Y.W. and H.-C.Y.; writing--original draft preparation, M.-Y.W.; writing--review and editing, M.-Y.W.; supervision, M.-Y.W.; funding acquisition, M.-Y.W. All authors have read and agreed to the published version of the manuscript. This research was funded by NFU 113-AF-061.  
The authors declare no conflicts of interest.