Hello, How are you? My name is Alexander, I have rich experience in robot structural design and control system including software. From the mechanical viewpoint, motion simulators are made by parallel structure so that its control requires combined control for multiple actuators(such as stewart platform for flight simulation, or delta robot for pick and place application). But simple motion simulators can be designed by serial structure, in that case software programming is relatively easier than former.
As an electronic product designer, I also have expertise in circuit design, firmware programming, AI, digital signal processing; joysticks, cameras, voice recognition were used many times for my prior projects. Your project will involve several steps to complete based on hardware design was already done.
+ mechanical simulation and calculation for control algorithm.
In this step, we need to change 3D motion of end effector into joint variables.
+ sensor system design and data input
joystick control, voice recognition via microphone, motion recognition via camera.. should be done.
+ electrical design for the connection of above two functions.
...
I hope to discuss on your project in detail via chat or call if you'd like to.
Thank you.
Alexander