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Thomas Dehaeze
2020-10-15 21:36:53 +02:00
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content/zettels/cubic_architecture.md
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@@ -4,7 +4,7 @@ author = ["Thomas Dehaeze"]
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### Backlinks {#backlinks}
Backlinks:
- [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" >}})
@@ -19,7 +19,7 @@ Tags
## Special Properties {#special-properties}
Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy 2000](#org916c010)))
Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy 2000](#org4014064)))
> 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.
@@ -27,4 +27,4 @@ Cubic Stewart Platforms can be decoupled provided that (from ([Chen and McInroy
## Bibliography {#bibliography}
<a id="org916c010"></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="org4014064"></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>.