32 lines
1.8 KiB
Markdown
32 lines
1.8 KiB
Markdown
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title = "Cubic Architecture"
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author = ["Thomas Dehaeze"]
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draft = false
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## Description of the Cubic Architecture {#description-of-the-cubic-architecture}
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## Special Properties {#special-properties}
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Cubic Stewart Platforms can be decoupled provided that (from <sup id="ba05ff213f8e5963d91559d95becfbdb"><a href="#chen00_ident_decoup_contr_flexur_joint_hexap" title="Yixin Chen \& McInroy, Identification and Decoupling Control of Flexure Jointed Hexapods, nil, in in: {Proceedings 2000 ICRA. Millennium Conference. IEEE
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International Conference on Robotics and Automation. Symposia
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Proceedings (Cat. No.00CH37065)}, edited by (2000)">(Yixin Chen \& McInroy, 2000)</a></sup>)
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> 1. The payload mass-inertia matrix is diagonal
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> 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.
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# Bibliography
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<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)
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## Backlinks {#backlinks}
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- [Sensors and control of a space-based six-axis vibration isolation system]({{< relref "hauge04_sensor_contr_space_based_six" >}})
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- [Simultaneous, fault-tolerant vibration isolation and pointing control of flexure jointed hexapods]({{< relref "li01_simul_fault_vibrat_isolat_point" >}})
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- [Dynamic modeling and decoupled control of a flexible stewart platform for vibration isolation]({{< relref "yang19_dynam_model_decoup_contr_flexib" >}})
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