1.8 KiB
1.8 KiB
+++ title = "Cubic Architecture" author = ["Thomas Dehaeze"] draft = false +++
Tags :
Description of the Cubic Architecture
Special Properties
Cubic Stewart Platforms can be decoupled provided that (from (Yixin Chen & McInroy, 2000))
- The payload mass-inertia matrix is diagonal
- 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
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). : . ↩
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" >}})