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bibliography: => #+BIBLIOGRAPHY: here

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Thomas Dehaeze
2021-05-02 22:18:30 +02:00
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content/zettels/cubic_architecture.md
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## Special Properties {#special-properties}
Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy 2000](#org0969434)))
Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy 2000](#org2ea9cff)))
> 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.
@@ -22,4 +22,4 @@ Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy
## Bibliography {#bibliography}
<a id="org0969434"></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="org2ea9cff"></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>.