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Re-export all org mode files

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Thomas Dehaeze
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content/zettels/active_damping.md
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## Backlinks {#backlinks}
- [A concept of active mount for space applications]({{< relref "souleille18_concep_activ_mount_space_applic" >}})
- [Active isolation and damping of vibrations via stewart platform]({{< relref "hanieh03_activ_stewar" >}})
- [Active damping based on decoupled collocated control]({{< relref "holterman05_activ_dampin_based_decoup_colloc_contr" >}})

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## Backlinks {#backlinks}
- [Advances in internal model control technique: a review and future prospects]({{< relref "saxena12_advan_inter_model_contr_techn" >}})
- [Actuator Fusion]({{< relref "actuator_fusion" >}})
- [Sensor Fusion]({{< relref "sensor_fusion" >}})
- [Advances in internal model control technique: a review and future prospects]({{< relref "saxena12_advan_inter_model_contr_techn" >}})

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## Special Properties {#special-properties}
Cubic Stewart Platforms can be decoupled provided that (from <sup id="ba05ff213f8e5963d91559d95becfbdb"><a href="#chen00_ident_decoup_contr_flexur_joint_hexap" title="Yixin Chen \&amp; McInroy, Identification and Decoupling Control of Flexure Jointed Hexapods, nil, in in: {Proceedings 2000 ICRA. Millennium Conference. IEEE
International Conference on Robotics and Automation. Symposia
Proceedings (Cat. No.00CH37065)}, edited by (2000)">(Yixin Chen \& McInroy, 2000)</a></sup>)
Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy 2000](#orgf50ffa1)))
> 1. The payload mass-inertia matrix is diagonal
> 2. If a mutually orthogonal geometry has been selected, the payload's center of mass must coincide with the center of the cube formed by the orthogonal struts.
# Bibliography
<a id="chen00_ident_decoup_contr_flexur_joint_hexap"></a>Chen, Y., & McInroy, J., *Identification and decoupling control of flexure jointed hexapods*, In , Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) (pp. ) (2000). : . [↩](#ba05ff213f8e5963d91559d95becfbdb)
## Bibliography {#bibliography}
<a id="orgf50ffa1"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In _Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)_, nil. <https://doi.org/10.1109/robot.2000.844878>.
## Backlinks {#backlinks}
- [Sensors and control of a space-based six-axis vibration isolation system]({{< relref "hauge04_sensor_contr_space_based_six" >}})
- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
- [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})
- [Sensors and control of a space-based six-axis vibration isolation system]({{< relref "hauge04_sensor_contr_space_based_six" >}})

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Books:
- <sup id="7d07367ac4d34d56738dbfe0eb53371f"><a href="#lobontiu02_compl" title="Lobontiu, Compliant mechanisms: design of flexure hinges, CRC press (2002).">(Lobontiu, 2002)</a></sup>
- <sup id="53d819004fa64ee1fe2e715469c5991f"><a href="#henein03_concep_guidag_flexib" title="Henein, Conception des Guidages Flexibles, Presses polytechniques et universitaires romandes (2003).">(Henein, 2003)</a></sup>
- <sup id="ccc31a1054040cbdbbb28ba9e590af72"><a href="#smith05_found" title="Smith, Foundations of ultra-precision mechanism design, CRC Press (2005).">(Smith, 2005)</a></sup>
- <sup id="13540f4d4ba6bb415fdc21c85dde63cc"><a href="#soemers11_desig_princ" title="Soemers, Design Principles for precision mechanisms, T-Pointprint (2011).">(Soemers, 2011)</a></sup>
- <sup id="880641d23cd52fb47b40104731883e32"><a href="#cosandier17_flexur_mechan_desig" title="Cosandier, Flexure Mechanism Design, Distributed by CRC Press, 2017EOFL Press (2017).">(Cosandier, 2017)</a></sup>
- ([Lobontiu 2002](#orgb3f874f))
- ([Henein 2003](#orgad0500e))
- ([Smith 2005](#org48acd08))
- ([Soemers 2011](#org03d0c96))
- ([Cosandier 2017](#org6494792))
## Flexure Joints for Stewart Platforms: {#flexure-joints-for-stewart-platforms}
From <sup id="ba05ff213f8e5963d91559d95becfbdb"><a href="#chen00_ident_decoup_contr_flexur_joint_hexap" title="Yixin Chen \&amp; McInroy, Identification and Decoupling Control of Flexure Jointed Hexapods, nil, in in: {Proceedings 2000 ICRA. Millennium Conference. IEEE
International Conference on Robotics and Automation. Symposia
Proceedings (Cat. No.00CH37065)}, edited by (2000)">(Yixin Chen \& McInroy, 2000)</a></sup>:
From ([Chen and McInroy 2000](#org2cba46e)):
> To avoid the extremely non-linear micro-dynamics of joint friction and backlash, these hexapods employ flexure joints.
> A flexure joint bends material to achieve motion, rather than sliding of rolling across two surfaces.
> This does eliminate friction and backlash, but adds spring dynamics and limits the workspace.
# Bibliography
<a id="lobontiu02_compl"></a>Lobontiu, N., *Compliant mechanisms: design of flexure hinges* (2002), : CRC press. [↩](#7d07367ac4d34d56738dbfe0eb53371f)
<a id="henein03_concep_guidag_flexib"></a>Henein, S., *Conception des guidages flexibles* (2003), Lausanne, Suisse: Presses polytechniques et universitaires romandes. [↩](#53d819004fa64ee1fe2e715469c5991f)
## Bibliography {#bibliography}
<a id="smith05_found"></a>Smith, S. T., *Foundations of ultra-precision mechanism design* (2005), : CRC Press. [↩](#ccc31a1054040cbdbbb28ba9e590af72)
<a id="org2cba46e"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In _Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)_, nil. <https://doi.org/10.1109/robot.2000.844878>.
<a id="soemers11_desig_princ"></a>Soemers, H., *Design principles for precision mechanisms* (2011), : T-Pointprint. [↩](#13540f4d4ba6bb415fdc21c85dde63cc)
<a id="org6494792"></a>Cosandier, Florent. 2017. _Flexure Mechanism Design_. Boca Raton, FL Lausanne, Switzerland: Distributed by CRC Press, 2017EOFL Press.
<a id="cosandier17_flexur_mechan_desig"></a>Cosandier, F., *Flexure Mechanism Design* (2017), Boca Raton, FL Lausanne, Switzerland: Distributed by CRC Press, 2017EOFL Press. [↩](#880641d23cd52fb47b40104731883e32)
<a id="orgad0500e"></a>Henein, Simon. 2003. _Conception Des Guidages Flexibles_. Lausanne, Suisse: Presses polytechniques et universitaires romandes.
<a id="chen00_ident_decoup_contr_flexur_joint_hexap"></a>Chen, Y., & McInroy, J., *Identification and decoupling control of flexure jointed hexapods*, In , Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) (pp. ) (2000). : . [↩](#ba05ff213f8e5963d91559d95becfbdb)
<a id="orgb3f874f"></a>Lobontiu, Nicolae. 2002. _Compliant Mechanisms: Design of Flexure Hinges_. CRC press.
<a id="org48acd08"></a>Smith, Stuart T. 2005. _Foundations of Ultra-Precision Mechanism Design_. Vol. 2. CRC Press.
<a id="org03d0c96"></a>Soemers, Herman. 2011. _Design Principles for Precision Mechanisms_. T-Pointprint.
## Backlinks {#backlinks}
- [Nanometre-cutting machine using a stewart-platform parallel mechanism]({{< relref "furutani04_nanom_cuttin_machin_using_stewar" >}})
- [Identification and decoupling control of flexure jointed hexapods]({{< relref "chen00_ident_decoup_contr_flexur_joint_hexap" >}})
- [Dynamic modeling and experimental analyses of stewart platform with flexible hinges]({{< relref "jiao18_dynam_model_exper_analy_stewar" >}})
- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
- [A six-axis single-stage active vibration isolator based on stewart platform]({{< relref "preumont07_six_axis_singl_stage_activ" >}})
- [Investigation on active vibration isolation of a stewart platform with piezoelectric actuators]({{< relref "wang16_inves_activ_vibrat_isolat_stewar" >}})
- [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})
- [Nanometre-cutting machine using a stewart-platform parallel mechanism]({{< relref "furutani04_nanom_cuttin_machin_using_stewar" >}})
- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
- [Dynamic modeling of flexure jointed hexapods for control purposes]({{< relref "mcinroy99_dynam" >}})
- [Identification and decoupling control of flexure jointed hexapods]({{< relref "chen00_ident_decoup_contr_flexur_joint_hexap" >}})
- [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})

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title = "Instrumented Hammer"
author = ["Thomas Dehaeze"]
draft = false
+++
Tags
: [Modal Analysis]({{< relref "modal_analysis" >}})
## Manufacturers {#manufacturers}
| Manufacturers | Links |
|---------------|---------------------------------------------------------------------------------------------------------------|
| PCB | [link](https://www.pcb.com/sensors-for-test-measurement/impact-hammers-electrodynamic-shakers/impact-hammers) |
| DJB | [link](https://www.djbinstruments.com/products/instrumentation/impact-hammers) |
<./biblio/references.bib>

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>
> The primary disadvantage of FIR filters is that they often require a much higher filter order than IIR filters to achieve a given level of performance. Correspondingly, the delay of these filters is often much greater than for an equal performance IIR filter.
From <sup id="d875134273304770f6a0334525ecfa27"><a class="reference-link" href="#shaw90_bandw_enhan_posit_measur_using_measur_accel" title="Shaw \&amp; Srinivasan, Bandwidth Enhancement of Position Measurements Using Measured Acceleration, {Mechanical Systems and Signal Processing}, v(1), 23-38 (1990).">(Shaw \& Srinivasan, 1990)</a></sup>
From ([Shaw and Srinivasan 1990](#org7a68e45))
> The FIR are capable of realizing filters with linear phase shift characteristics and furthermore are less susceptible to signal input and filter coefficient quantization effects.
> However, their computational demands are excessively large because of the large number of multiplications and additions to be performed at each sampling interval.
@@ -48,5 +48,7 @@ From <https://dsp.stackexchange.com/a/30999>
>
> - Feed-forward control. FIR filters are useful for producing filters that approximate arbitrary frequency responses, hence they can be used to shape a reference signal. A typical example is to use an FIR filter with the inverse frequency response of the plant -- trying to counteract the dynamics of the plant in order to get a desired output. Phase/time-delay is not interfering with the stability or performance since the computation can be done offline. FIR filters can often produce higher performance than IIR filters, especially where there are non-minimum phase zeros.
# Bibliography
<a class="bibtex-entry" id="shaw90_bandw_enhan_posit_measur_using_measur_accel">Shaw, F., & Srinivasan, K., *Bandwidth enhancement of position measurements using measured acceleration*, Mechanical Systems and Signal Processing, *4(1)*, 23–38 (1990). http://dx.doi.org/10.1016/0888-3270(90)90038-m</a> [↩](#d875134273304770f6a0334525ecfa27)
## Bibliography {#bibliography}
<a id="org7a68e45"></a>Shaw, F.R., and K. Srinivasan. 1990. “Bandwidth Enhancement of Position Measurements Using Measured Acceleration.” _Mechanical Systems and Signal Processing_ 4 (1):23–38. <https://doi.org/10.1016/0888-3270(90)>90038-m.

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Tags
:
: [Simulink]({{< relref "simulink" >}})
## Resources on Matlab {#resources-on-matlab}
Books:
- ([Higham 2017](#org311950e))
- ([Attaway 2018](#org2d4cbee))
- ([OverFlow 2018](#org84f4050))
- ([Johnson 2010](#orgd1edf93))
- ([Hahn and Valentine 2016](#org07606c6))
- ([Higham 2017](#org8ba8e47))
- ([Attaway 2018](#org4c6aa3b))
- ([OverFlow 2018](#orgad9dce4))
- ([Johnson 2010](#org1aa5652))
- ([Hahn and Valentine 2016](#orgc9b02db))
## Useful Commands {#useful-commands}
@@ -46,12 +46,12 @@ Books:
### Do not show legend for one plot {#do-not-show-legend-for-one-plot}
```matlab
figure;
hold on;
plot(x, y1, 'DisplayName, 'lengendname');
plot(x, y2, 'HandleVisibility', 'off');
hold off;
legend('Location', 'northeast');
figure;
hold on;
plot(x, y1, 'DisplayName, 'lengendname');
plot(x, y2, 'HandleVisibility', 'off');
hold off;
legend('Location', 'northeast');
```
@@ -60,7 +60,7 @@ legend('Location', 'northeast');
If a single user is using the Matlab installation on the machine:
```bash
sudo chown -R $LOGNAME: /usr/local/MATLAB/R2017b
sudo chown -R $LOGNAME: /usr/local/MATLAB/R2017b
```
Then, Toolboxes can be installed by the user without any problem.
@@ -70,17 +70,43 @@ To install Toolboxes, the best is to Download the Matlab installer from mathwork
## Used Toolboxes {#used-toolboxes}
Nice functions:
- <https://github.com/jmrplens/SetFigPaper>
- <https://github.com/altmany/export%5Ffig>
- Matlab's `exportgraphics`
- `vfit3` ([link](https://www.sintef.no/projectweb/vectorfitting/)): used to identify transfer functions
## Debug Scripts {#debug-scripts}
<https://fr.mathworks.com/help/matlab/debugging-code.html>
<https://stackoverflow.com/questions/22853116/how-to-debug-matlab-code-without-gui>
| Command | Effect |
|------------|--------------------------------------------------------------|
| `dbclear` | Remove breakpoints |
| `dbcont` | Resume execution |
| `dbdown` | Reverse dbup workspace shift |
| `dbquit` | Quit debug mode |
| `dbstack` | Function call stack |
| `dbstatus` | List all breakpoints |
| `dbstep` | Execute next executable line from current breakpoint |
| `dbstop` | Set breakpoints for debugging |
| `dbtype` | Display file with line numbers |
| `dbup` | Shift current workspace to workspace of caller in debug mode |
| `keyboard` | Give control to keyboard |
| `echo` | Display statements during function execution |
## Bibliography {#bibliography}
<a id="org2d4cbee"></a>Attaway, Stormy. 2018. _MATLAB : a Practical Introduction to Programming and Problem Solving_. Amsterdam: Butterworth-Heinemann.
<a id="org4c6aa3b"></a>Attaway, Stormy. 2018. _MATLAB : a Practical Introduction to Programming and Problem Solving_. Amsterdam: Butterworth-Heinemann.
<a id="org07606c6"></a>Hahn, Brian, and Daniel T Valentine. 2016. _Essential MATLAB for Engineers and Scientists_. Academic Press.
<a id="orgc9b02db"></a>Hahn, Brian, and Daniel T Valentine. 2016. _Essential MATLAB for Engineers and Scientists_. Academic Press.
<a id="org311950e"></a>Higham, Desmond. 2017. _MATLAB Guide_. Philadelphia: Society for Industrial and Applied Mathematics.
<a id="org8ba8e47"></a>Higham, Desmond. 2017. _MATLAB Guide_. Philadelphia: Society for Industrial and Applied Mathematics.
<a id="orgd1edf93"></a>Johnson, Richard K. 2010. _The Elements of MATLAB Style_. Cambridge University Press.
<a id="org1aa5652"></a>Johnson, Richard K. 2010. _The Elements of MATLAB Style_. Cambridge University Press.
<a id="org84f4050"></a>OverFlow, Stack. 2018. _MATLAB Notes for Professionals_. GoalKicker.com.
<a id="orgad9dce4"></a>OverFlow, Stack. 2018. _MATLAB Notes for Professionals_. GoalKicker.com.

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title = "Modal Analysis"
author = ["Thomas Dehaeze"]
draft = false
+++
Tags
: [Inertial Sensors]({{< relref "inertial_sensors" >}}), [Shaker]({{< relref "shaker" >}})
<./biblio/references.bib>
## Backlinks {#backlinks}
- [Modal testing: theory, practice and application]({{< relref "ewins00_modal" >}})
- [Instrumented Hammer]({{< relref "instrumented_hammer" >}})

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## Backlinks {#backlinks}
- [Multivariable control systems: an engineering approach]({{< relref "albertos04_multiv_contr_system" >}})
- [Position control in lithographic equipment]({{< relref "butler11_posit_contr_lithog_equip" >}})
- [Implementation challenges for multivariable control: what you did not learn in school!]({{< relref "garg07_implem_chall_multiv_contr" >}})
- [Multivariable control systems: an engineering approach]({{< relref "albertos04_multiv_contr_system" >}})
- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
- [Multivariable feedback control: analysis and design]({{< relref "skogestad07_multiv_feedb_contr" >}})
- [Position control in lithographic equipment]({{< relref "butler11_posit_contr_lithog_equip" >}})

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Tutorial about Power Spectral Density is accessible [here](https://tdehaeze.github.io/spectral-analysis/).
A good article about how to use the `pwelch` function with Matlab ([Schmid 2012](#org8fdb443)).
A good article about how to use the `pwelch` function with Matlab ([Schmid 2012](#org206dff2)).
## Bibliography {#bibliography}
<a id="org8fdb443"></a>Schmid, Hanspeter. 2012. “How to Use the FFT and Matlab’s Pwelch Function for Signal and Noise Simulations and Measurements.” _Institute of Microelectronics_.
<a id="org206dff2"></a>Schmid, Hanspeter. 2012. “How to Use the FFT and Matlab’s Pwelch Function for Signal and Noise Simulations and Measurements.” _Institute of Microelectronics_.

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title = "Simulink"
author = ["Thomas Dehaeze"]
draft = false
+++
Tags
:
## Useful Key Bindings {#useful-key-bindings}
| Key Binding | Action |
|----------------|-----------------------------|
| `spc` | Fit to view |
| `ctrl-shift-A` | Rearrange all the blocks |
| `ctrl-shift-I` | Open the Property Inspector |
| `ctrl-G` | Create a subsystem |
| `ctrl-J` | Show the Sampling Time |
| `ctrl-T` | Run Model |
| `ctrl-shit-T` | Stop Model |
| `ctrl-D` | Update Model |
| `ctrl-B` | Build Model |
| `ctrl-H` | Open Model Explorer |
Tips:
- It is possible to share configuration between files with **referenced configuration**
## Linearize portion of Simulink file {#linearize-portion-of-simulink-file}
<https://in.mathworks.com/help/slcontrol/ug/specify-model-portion-to-linearize.html>
<./biblio/references.bib>

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Papers by J.E. McInroy:
- <sup id="89a9631ad2f0fb051d6fb8a91dc96cb2"><a href="#obrien98_lesson" title="O'Brien, McInroy, Bodtke, Bruch, \&amp; Hamann, Lessons learned in nonlinear systems and flexible robots through experiments on a 6 legged platform, nil, in in: {Proceedings of the 1998 American Control Conference. ACC
(IEEE Cat. No.98CH36207)}, edited by (1998)">(O'Brien {\it et al.}, 1998)</a></sup>
- <sup id="fecc3b6c835f5247abb57a170e2f5364"><a href="#mcinroy99_precis_fault_toler_point_using_stewar_platf" title="McInroy, O'Brien \&amp; Neat, Precise, Fault-Tolerant Pointing Using a Stewart Platform, {IEEE/ASME Transactions on Mechatronics}, v(1), 91-95 (1999).">(McInroy {\it et al.}, 1999)</a></sup>
- <sup id="5da427f78c552aa92cd64c2a6df961f1"><a href="#mcinroy99_dynam" title="McInroy, Dynamic modeling of flexure jointed hexapods for control purposes, nil, in in: {Proceedings of the 1999 IEEE International Conference on
Control Applications (Cat. No.99CH36328)}, edited by (1999)">(McInroy, 1999)</a></sup>
- <sup id="f6d310236552ee92579cf0673a2ca695"><a href="#mcinroy00_desig_contr_flexur_joint_hexap" title="McInroy \&amp; Hamann, Design and Control of Flexure Jointed Hexapods, {IEEE Transactions on Robotics and Automation}, v(4), 372-381 (2000).">(McInroy \& Hamann, 2000)</a></sup>
- <sup id="ba05ff213f8e5963d91559d95becfbdb"><a href="#chen00_ident_decoup_contr_flexur_joint_hexap" title="Yixin Chen \&amp; McInroy, Identification and Decoupling Control of Flexure Jointed Hexapods, nil, in in: {Proceedings 2000 ICRA. Millennium Conference. IEEE
International Conference on Robotics and Automation. Symposia
Proceedings (Cat. No.00CH37065)}, edited by (2000)">(Yixin Chen \& McInroy, 2000)</a></sup>
- <sup id="8bfe2d2dce902a584fa016e86a899044"><a href="#mcinroy02_model_desig_flexur_joint_stewar" title="McInroy, Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes, {IEEE/ASME Transactions on Mechatronics}, v(1), 95-99 (2002).">(McInroy, 2002)</a></sup>
- <sup id="e3df2691f750617c3995644d056d553a"><a href="#li01_simul_vibrat_isolat_point_contr" title="Xiaochun Li, Jerry Hamann \&amp; John McInroy, Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods, nil, in in: {Smart Structures and Materials 2001: Smart Structures and
Integrated Systems}, edited by (2001)">(Xiaochun Li {\it et al.}, 2001)</a></sup>
- <sup id="7c236658343683951ee18f3f771a68db"><a href="#lin03_adapt_sinus_distur_cancel_precis" title="Haomin Lin \&amp; McInroy, Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms, {IEEE Transactions on Control Systems Technology}, v(2), 267-272 (2003).">(Haomin Lin \& McInroy, 2003)</a></sup>
- <sup id="5cc6cbf419f21bb039148a3c012723d0"><a href="#jafari03_orthog_gough_stewar_platf_microm" title="Jafari \&amp; McInroy, Orthogonal Gough-Stewart Platforms for Micromanipulation, {IEEE Transactions on Robotics and Automation}, v(4), 595-603 (2003).">(Jafari \& McInroy, 2003)</a></sup>
- <sup id="7683f004697e712d8aebd697ab7c7bf7"><a href="#chen04_decoup_contr_flexur_joint_hexap" title="Chen \&amp; McInroy, Decoupled Control of Flexure-Jointed Hexapods Using Estimated Joint-Space Mass-Inertia Matrix, {IEEE Transactions on Control Systems Technology}, v(3), 413-421 (2004).">(Chen \& McInroy, 2004)</a></sup>
- ([O’Brien et al. 1998](#orgd3ca372))
- ([McInroy, O’Brien, and Neat 1999](#orgf721e37))
- ([McInroy 1999](#org3433881))
- ([McInroy and Hamann 2000](#org637713e))
- ([Chen and McInroy 2000](#org36c0c78))
- ([McInroy 2002](#org9e4db5a))
- ([Li, Hamann, and McInroy 2001](#orgeede940))
- ([Lin and McInroy 2003](#orgdc4ea44))
- ([Jafari and McInroy 2003](#org567288a))
- ([Chen and McInroy 2004](#org9cf3624))
# Bibliography
<a id="obrien98_lesson"></a>O'Brien, J., McInroy, J., Bodtke, D., Bruch, M., & Hamann, J., *Lessons learned in nonlinear systems and flexible robots through experiments on a 6 legged platform*, In , Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207) (pp. ) (1998). : . [↩](#89a9631ad2f0fb051d6fb8a91dc96cb2)
<a id="mcinroy99_precis_fault_toler_point_using_stewar_platf"></a>McInroy, J., O'Brien, J., & Neat, G., *Precise, fault-tolerant pointing using a stewart platform*, IEEE/ASME Transactions on Mechatronics, *4(1)*, 91–95 (1999). http://dx.doi.org/10.1109/3516.752089 [↩](#fecc3b6c835f5247abb57a170e2f5364)
## Bibliography {#bibliography}
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<a id="org9cf3624"></a>Chen, Y., and J.E. McInroy. 2004. “Decoupled Control of Flexure-Jointed Hexapods Using Estimated Joint-Space Mass-Inertia Matrix.” _IEEE Transactions on Control Systems Technology_ 12 (3):413–21. <https://doi.org/10.1109/tcst.2004.824339>.
<a id="mcinroy00_desig_contr_flexur_joint_hexap"></a>McInroy, J., & Hamann, J., *Design and control of flexure jointed hexapods*, IEEE Transactions on Robotics and Automation, *16(4)*, 372–381 (2000). http://dx.doi.org/10.1109/70.864229 [↩](#f6d310236552ee92579cf0673a2ca695)
<a id="org36c0c78"></a>Chen, Yixin, and J.E. McInroy. 2000. “Identification and Decoupling Control of Flexure Jointed Hexapods.” In _Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)_, nil. <https://doi.org/10.1109/robot.2000.844878>.
<a id="chen00_ident_decoup_contr_flexur_joint_hexap"></a>Chen, Y., & McInroy, J., *Identification and decoupling control of flexure jointed hexapods*, In , Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065) (pp. ) (2000). : . [↩](#ba05ff213f8e5963d91559d95becfbdb)
<a id="org567288a"></a>Jafari, F., and J.E. McInroy. 2003. “Orthogonal Gough-Stewart Platforms for Micromanipulation.” _IEEE Transactions on Robotics and Automation_ 19 (4). Institute of Electrical and Electronics Engineers (IEEE):595–603. <https://doi.org/10.1109/tra.2003.814506>.
<a id="mcinroy02_model_desig_flexur_joint_stewar"></a>McInroy, J., *Modeling and design of flexure jointed stewart platforms for control purposes*, IEEE/ASME Transactions on Mechatronics, *7(1)*, 95–99 (2002). http://dx.doi.org/10.1109/3516.990892 [↩](#8bfe2d2dce902a584fa016e86a899044)
<a id="orgdc4ea44"></a>Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” _IEEE Transactions on Control Systems Technology_ 11 (2):267–72. <https://doi.org/10.1109/tcst.2003.809248>.
<a id="li01_simul_vibrat_isolat_point_contr"></a>Li, X., Hamann, J. C., & McInroy, J. E., *Simultaneous vibration isolation and pointing control of flexure jointed hexapods*, In , Smart Structures and Materials 2001: Smart Structures and Integrated Systems (pp. ) (2001). : . [↩](#e3df2691f750617c3995644d056d553a)
<a id="orgeede940"></a>Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In _Smart Structures and Materials 2001: Smart Structures and Integrated Systems_, nil. <https://doi.org/10.1117/12.436521>.
<a id="lin03_adapt_sinus_distur_cancel_precis"></a>Lin, H., & McInroy, J., *Adaptive sinusoidal disturbance cancellation for precise pointing of stewart platforms*, IEEE Transactions on Control Systems Technology, *11(2)*, 267–272 (2003). http://dx.doi.org/10.1109/tcst.2003.809248 [↩](#7c236658343683951ee18f3f771a68db)
<a id="org3433881"></a>McInroy, J.E. 1999. “Dynamic Modeling of Flexure Jointed Hexapods for Control Purposes.” In _Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328)_, nil. <https://doi.org/10.1109/cca.1999.806694>.
<a id="jafari03_orthog_gough_stewar_platf_microm"></a>Jafari, F., & McInroy, J., *Orthogonal gough-stewart platforms for micromanipulation*, IEEE Transactions on Robotics and Automation, *19(4)*, 595–603 (2003). http://dx.doi.org/10.1109/tra.2003.814506 [↩](#5cc6cbf419f21bb039148a3c012723d0)
<a id="org9e4db5a"></a>———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” _IEEE/ASME Transactions on Mechatronics_ 7 (1):95–99. <https://doi.org/10.1109/3516.990892>.
<a id="chen04_decoup_contr_flexur_joint_hexap"></a>Chen, Y., & McInroy, J., *Decoupled control of flexure-jointed hexapods using estimated joint-space mass-inertia matrix*, IEEE Transactions on Control Systems Technology, *12(3)*, 413–421 (2004). http://dx.doi.org/10.1109/tcst.2004.824339 [↩](#7683f004697e712d8aebd697ab7c7bf7)
<a id="org637713e"></a>McInroy, J.E., and J.C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” _IEEE Transactions on Robotics and Automation_ 16 (4):372–81. <https://doi.org/10.1109/70.864229>.
<a id="orgf721e37"></a>McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” _IEEE/ASME Transactions on Mechatronics_ 4 (1):91–95. <https://doi.org/10.1109/3516.752089>.
<a id="orgd3ca372"></a>O’Brien, J.F., J.E. McInroy, D. Bodtke, M. Bruch, and J.C. Hamann. 1998. “Lessons Learned in Nonlinear Systems and Flexible Robots Through Experiments on a 6 Legged Platform.” In _Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)_, nil. <https://doi.org/10.1109/acc.1998.703532>.
## Backlinks {#backlinks}
- [The stewart platform manipulator: a review]({{< relref "dasgupta00_stewar_platf_manip" >}})
- [Modeling and control of vibration in mechanical systems]({{< relref "du10_model_contr_vibrat_mechan_system" >}})
- [Studies on stewart platform manipulator: a review]({{< relref "furqan17_studies_stewar_platf_manip" >}})
- [Nanometre-cutting machine using a stewart-platform parallel mechanism]({{< relref "furutani04_nanom_cuttin_machin_using_stewar" >}})
- [An intelligent control system for multiple degree-of-freedom vibration isolation]({{< relref "geng95_intel_contr_system_multip_degree" >}})
- [Active isolation and damping of vibrations via stewart platform]({{< relref "hanieh03_activ_stewar" >}})
- [Sensors and control of a space-based six-axis vibration isolation system]({{< relref "hauge04_sensor_contr_space_based_six" >}})
- [Dynamic modeling and experimental analyses of stewart platform with flexible hinges]({{< relref "jiao18_dynam_model_exper_analy_stewar" >}})
- [A new isotropic and decoupled 6-dof parallel manipulator]({{< relref "legnani12_new_isotr_decoup_paral_manip" >}})
- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
- [Simultaneous vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_vibrat_isolat_point_contr" >}})
- [A six-axis single-stage active vibration isolator based on stewart platform]({{< relref "preumont07_six_axis_singl_stage_activ" >}})
- [Vibration Control of Active Structures - Fourth Edition]({{< relref "preumont18_vibrat_contr_activ_struc_fourt_edition" >}})
- [A soft 6-axis active vibration isolator]({{< relref "spanos95_soft_activ_vibrat_isolat" >}})
- [Parallel robots : mechanics and control]({{< relref "taghirad13_paral" >}})
- [Decentralized vibration control of a voice coil motor-based stewart parallel mechanism: simulation and experiments]({{< relref "tang18_decen_vibrat_contr_voice_coil" >}})
- [Investigation on active vibration isolation of a stewart platform with piezoelectric actuators]({{< relref "wang16_inves_activ_vibrat_isolat_stewar" >}})
- [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})
- [Six dof active vibration control using stewart platform with non-cubic configuration]({{< relref "zhang11_six_dof" >}})
- [Dynamic modeling of flexure jointed hexapods for control purposes]({{< relref "mcinroy99_dynam" >}})
- [Identification and decoupling control of flexure jointed hexapods]({{< relref "chen00_ident_decoup_contr_flexur_joint_hexap" >}})
- [Dynamic modeling and experimental analyses of stewart platform with flexible hinges]({{< relref "jiao18_dynam_model_exper_analy_stewar" >}})
- [A six-axis single-stage active vibration isolator based on stewart platform]({{< relref "preumont07_six_axis_singl_stage_activ" >}})
- [Investigation on active vibration isolation of a stewart platform with piezoelectric actuators]({{< relref "wang16_inves_activ_vibrat_isolat_stewar" >}})
- [Nanometre-cutting machine using a stewart-platform parallel mechanism]({{< relref "furutani04_nanom_cuttin_machin_using_stewar" >}})
- [Active isolation and damping of vibrations via stewart platform]({{< relref "hanieh03_activ_stewar" >}})
- [Studies on stewart platform manipulator: a review]({{< relref "furqan17_studies_stewar_platf_manip" >}})
- [Modeling and control of vibration in mechanical systems]({{< relref "du10_model_contr_vibrat_mechan_system" >}})
- [A new isotropic and decoupled 6-dof parallel manipulator]({{< relref "legnani12_new_isotr_decoup_paral_manip" >}})
- [The stewart platform manipulator: a review]({{< relref "dasgupta00_stewar_platf_manip" >}})
- [Vibration Control of Active Structures - Fourth Edition]({{< relref "preumont18_vibrat_contr_activ_struc_fourt_edition" >}})
- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
- [Dynamic modeling of flexure jointed hexapods for control purposes]({{< relref "mcinroy99_dynam" >}})
- [An intelligent control system for multiple degree-of-freedom vibration isolation]({{< relref "geng95_intel_contr_system_multip_degree" >}})
- [A soft 6-axis active vibration isolator]({{< relref "spanos95_soft_activ_vibrat_isolat" >}})
- [Six dof active vibration control using stewart platform with non-cubic configuration]({{< relref "zhang11_six_dof" >}})
- [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})
- [Parallel robots : mechanics and control]({{< relref "taghirad13_paral" >}})
- [Simultaneous vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_vibrat_isolat_point_contr" >}})
- [Sensors and control of a space-based six-axis vibration isolation system]({{< relref "hauge04_sensor_contr_space_based_six" >}})