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Thomas Dehaeze
2021-05-02 20:37:00 +02:00
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content/article/chen00_ident_decoup_contr_flexur_joint_hexap.md
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@@ -8,7 +8,7 @@ Tags
: [Stewart Platforms]({{< relref "stewart_platforms" >}}), [Flexible Joints]({{< relref "flexible_joints" >}})
Reference
: ([Chen and McInroy 2000](#orgc009af3))
: ([Chen and McInroy 2000](#orgfcb31bd))
Author(s)
: Chen, Y., & McInroy, J.
@@ -31,7 +31,7 @@ Year
## Introduction {#introduction}
Typical decoupling algorithm impose two constraints:
Typical decoupling algorithm ([Decoupled Control]({{< relref "decoupled_control" >}})) impose two constraints:
- the payload mass/inertia matrix is diagonal
- the geometry of the platform and attachment of the payload must be carefully chosen
@@ -43,9 +43,9 @@ The algorithm derived herein removes these constraints, thus greatly expanding t
## Dynamic Model of Flexure Jointed Hexapods {#dynamic-model-of-flexure-jointed-hexapods}
The derivation of the dynamic model is done in ([McInroy 1999](#org0e9e807)) ([Notes]({{< relref "mcinroy99_dynam" >}})).
The derivation of the dynamic model is done in ([McInroy 1999](#orgaddeeaf)) ([Notes]({{< relref "mcinroy99_dynam" >}})).
<a id="orge595e9c"></a>
<a id="org3326cce"></a>
{{< figure src="/ox-hugo/chen00_flexure_hexapod.png" caption="Figure 1: A flexured joint Hexapod. {P} is a cartesian coordiante frame located at (and rigidly connected to) the payload's center of mass. {B} is a frame attached to the (possibly moving) base, and {U} is a universal inertial frame of reference" >}}
@@ -100,8 +100,9 @@ where
## Experimental Results {#experimental-results}
## Bibliography {#bibliography}
<a id="orgc009af3"></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="orgfcb31bd"></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="org0e9e807"></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="orgaddeeaf"></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>.