diff --git a/content/article/kothare94_unified_framew_study_anti_windup_desig.md b/content/article/kothare94_unified_framew_study_anti_windup_desig.md deleted file mode 100644 index c9f0d77..0000000 --- a/content/article/kothare94_unified_framew_study_anti_windup_desig.md +++ /dev/null @@ -1,22 +0,0 @@ -+++ -title = "A unified framework for the study of anti-windup designs" -author = ["Dehaeze Thomas"] -draft = true -+++ - -Tags -: - - -Reference -: (Kothare et al. 1994) - -Author(s) -: Kothare, M. V., Campo, P. J., Morari, M., & Nett, C. N. - -Year -: 1994 - -
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Kothare, Mayuresh V., Peter J. Campo, Manfred Morari, and Carl N. Nett. 1994. “A Unified Framework for the Study of Anti-Windup Designs.” Automatica 30 (12): 1869–83. doi:10.1016/0005-1098(94)90048-5.
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diff --git a/content/book/horowitz15_art_of_elect_third_edition.md b/content/book/horowitz15_art_of_elect_third_edition.md deleted file mode 100644 index 8305a12..0000000 --- a/content/book/horowitz15_art_of_elect_third_edition.md +++ /dev/null @@ -1,26 +0,0 @@ -+++ -title = "The Art of Electronics - Third Edition" -author = ["Dehaeze Thomas"] -description = "One of the best book in electronics. Cover most topics (both analog and digital)." -keywords = ["electronics"] -draft = false -+++ - -Tags -: [Reference Books]({{< relref "reference_books.md" >}}), [Electronics]({{< relref "electronics.md" >}}) - -Reference -: (Horowitz 2015) - -Author(s) -: Horowitz, P. - -Year -: 2015 - - -## Bibliography {#bibliography} - -
-
Horowitz, Paul. 2015. The Art of Electronics - Third Edition. New York, NY, USA: Cambridge University Press.
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diff --git a/content/posts/test2.md b/content/posts/test2.md deleted file mode 100644 index 294a504..0000000 --- a/content/posts/test2.md +++ /dev/null @@ -1,17 +0,0 @@ -+++ -title = "Second Blog Post" -author = ["Dehaeze Thomas"] -date = 2021-05-01T00:00:00+02:00 -lastmod = 2026-10-06T13:39:39+02:00 -tags = ["hugo", "org"] -categories = ["emacs"] -draft = false -+++ - -## Heading {#heading} - -
- -this is an important block - -
diff --git a/content/zettels/analog_to_digital_converters.md b/content/zettels/analog_to_digital_converters.md index 4d1c3d5..515dbfe 100644 --- a/content/zettels/analog_to_digital_converters.md +++ b/content/zettels/analog_to_digital_converters.md @@ -84,7 +84,7 @@ The quantization is: {{< youtube b9lxtOJj3yU >}} -Also see (Kester 2005). +Also see (Kester 2005). ## Link between required dynamic range and effective number of bits {#link-between-required-dynamic-range-and-effective-number-of-bits} @@ -96,7 +96,7 @@ Also see (Kester 2005). ## Oversampling {#oversampling} -(Lab 2013) +(Lab 2013) To have additional \\(w\\) bits of resolution, the oversampling frequency \\(f\_{os}\\) should be: @@ -104,7 +104,7 @@ To have additional \\(w\\) bits of resolution, the oversampling frequency \\(f\_ f\_{os} = 4^w \cdot f\_s \end{equation} -(NO_ITEM_DATA:hauser91_princ_overs_conver) +(Hauser 1991) ### When Oversampling and Averaging Will Work {#when-oversampling-and-averaging-will-work} @@ -118,9 +118,9 @@ f\_{os} = 4^w \cdot f\_s ## Sigma Delta ADC {#sigma-delta-adc} -(Pisani 2018) +(Pisani 2018) -From (Schmidt, Schitter, and Rankers 2020): +From (Schmidt, Schitter, and Rankers 2020): > The low cost and excellent linearity properties of the Sigma-Delta ADC have replaced other ADC types in many measurement and registration systems, especially where storage of data is more important than real-time measurement. > This has typically been the case in audio recording and reproduction. @@ -144,7 +144,7 @@ Therefore, even though there are sigma-delta ADC with high precision and samplin ## Anti-Aliasing Filters {#anti-aliasing-filters} -(Microchip 1999) +(Microchip 1999) ## State of the art ADC {#state-of-the-art-adc} @@ -157,10 +157,10 @@ Therefore, even though there are sigma-delta ADC with high precision and samplin
Baker, Bonnie. 2011. “How Delta-Sigma Adcs Work, Part.” Analog Applications 7.
Beev, Nikolai. 2018. “Analog-to-Digital Conversion beyond 20 Bits.” In 2018 IEEE International Instrumentation and Measurement Technology Conference (I2MTC). doi:10.1109/i2mtc.2018.8409543.
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Kester, Walt. 2005. “Taking the Mystery out of the Infamous Formula, $snr = 6.02 N + 1.76 Db$, and Why You Should Care.”
-
Lab, Silicon. 2013. “Improving the ADC Resolution by Oversampling and Averaging.” Silicon Laboratories.
-
Microchip. 1999. “Anti-Aliasing, Analog Filters for Data Acquisition Systems.”
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Pisani, Brian. 2018. “Accounting for Delay from Multiple Sources in Delta-Sigma ADCs.”
-
Schmidt, R. M., G. Schitter, and A. Rankers. 2020. The Design of High Performance Mechatronics - Third Revised Edition. Ios Press.
-
NO_ITEM_DATA:hauser91_princ_overs_conver
+
Hauser, M. W. 1991. “Principles of Oversampling A/D Conversion.” Journal of Audio Engineering Society.
+
Kester, Walt. 2005. “Taking the Mystery out of the Infamous Formula, $snr = 6.02 N + 1.76 Db$, and Why You Should Care.”
+
Lab, Silicon. 2013. “Improving the ADC Resolution by Oversampling and Averaging.” Silicon Laboratories.
+
Microchip. 1999. “Anti-Aliasing, Analog Filters for Data Acquisition Systems.”
+
Pisani, Brian. 2018. “Accounting for Delay from Multiple Sources in Delta-Sigma ADCs.”
+
Schmidt, R. M., G. Schitter, and A. Rankers. 2020. The Design of High Performance Mechatronics - Third Revised Edition. Ios Press.
diff --git a/content/zettels/finite_element_model.md b/content/zettels/finite_element_model.md index ce925f3..208686f 100644 --- a/content/zettels/finite_element_model.md +++ b/content/zettels/finite_element_model.md @@ -15,7 +15,6 @@ Some resources: - (Hatch 2000) ([Notes]({{< relref "hatch00_vibrat_matlab_ansys.md" >}})) - (Khot and Yelve 2011) -- (NO_ITEM_DATA:kosarac15_creat_siso_ansys) The idea is to extract reduced state space model from Ansys into Matlab. @@ -25,5 +24,4 @@ The idea is to extract reduced state space model from Ansys into Matlab.
Hatch, M. R. 2000. Vibration Simulation Using MATLAB and ANSYS. CRC Press.
Khot, SM, and Nitesh P Yelve. 2011. “Modeling and Response Analysis of Dynamic Systems by Using Ansys and Matlab.” Journal of Vibration and Control 17 (6). SAGE Publications Sage UK: London, England: 953–58.
-
NO_ITEM_DATA:kosarac15_creat_siso_ansys
diff --git a/content/zettels/norms.md b/content/zettels/norms.md index 7b07432..7e192e6 100644 --- a/content/zettels/norms.md +++ b/content/zettels/norms.md @@ -11,9 +11,9 @@ Tags Resources: -- (NO_ITEM_DATA:skogestad05_multiv_feedb_contr) -- (Toivonen 2002) -- (Zhang 2011) +- (Skogestad and Postlethwaite 2007) +- (Toivonen 2002) +- (Zhang 2011) ## Definition {#definition} @@ -181,7 +181,7 @@ As explained in (Monkhorst 2004), the \\(\mat
Monkhorst, W. 2004. “Dynamic Error Budgeting, a Design Approach.” Delft University.
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Toivonen, Hannu T. 2002. “Robust Control Methods.” Abo Akademi University.
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Zhang, Weidong. 2011. Quantitative Process Control Theory. CRC Press.
-
NO_ITEM_DATA:skogestad05_multiv_feedb_contr
+
Skogestad, S., and I. Postlethwaite. 2007. Multivariable Feedback Control: Analysis and Design - Second Edition. John Wiley.
+
Toivonen, Hannu T. 2002. “Robust Control Methods.” Abo Akademi University.
+
Zhang, Weidong. 2011. Quantitative Process Control Theory. CRC Press.
diff --git a/content/zettels/relative_gain_array.md b/content/zettels/relative_gain_array.md deleted file mode 100644 index f516d3c..0000000 --- a/content/zettels/relative_gain_array.md +++ /dev/null @@ -1,44 +0,0 @@ -+++ -title = "Relative Gain Array" -author = ["Dehaeze Thomas"] -draft = false -category = "Control Theory" -subcategory = "Multivariable Analysis" -+++ - -Tags -: - -Imagine a 2x2 plant: -\\[ G(s) = \begin{bmatrix} g\_{11}(s) & g\_{12}(s)\\\ g\_{21}(s) & g\_{22}(s) \end{bmatrix} \\] - -Now suppose a controller \\(k\_{1}(s)\\) is closed on the first loop. -The new transfer function from \\(u\_2\\) to \\(y\_2\\) (while the first loop is closed) is : - -\begin{equation} -y\_2 = g\_{22} \left[ 1 - \underbrace{\frac{g\_{21}g\_{12}}{g\_{11}g\_{22}}}\_{\phi} \underbrace{\frac{g\_{11} k\_{11}}{1 + g\_{11}k\_{11}}}\_{T\_{11}} \right] -\end{equation} - -\\(\phi\\) is called the **interaction index**. -\\(T\_{11}\\) is the complementary sensitivity of the first loop (equal to 1 in the bandwidth of the first controller). -Therefore, we want \\(\phi \approx 0\\) to have no interaction. - -Similarly, the **relative gain** is defined as: -\\[ \Lambda = \frac{1}{1 - \phi} \\] -And we want \\(\Lambda \approx 1\\) to have no interaction. - -Note that the scaling of inputs or outputs of the MIMO plant has no effect on \\(\phi\\) or \\(\Lambda\\). - -The **relative gain array** is defined as: -\\[ \Lambda(G) = G \star (G^{-1})^{T} \\] -where \\(\star\\) means element wise multiplication. - -```matlab -RGA = G.*pinv(G.') -``` - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/stewart_platforms.md b/content/zettels/stewart_platforms.md index c919f85..8f67749 100644 --- a/content/zettels/stewart_platforms.md +++ b/content/zettels/stewart_platforms.md @@ -64,111 +64,111 @@ Tags | University | Figure | Configuration | Joints | Actuators | Sensors | Application | Link to bibliography | |----------------|---------------------------------------------|-------------------|-------------|--------------------------|------------------------------------------------------------|------------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| JPL | [Figure 5](#figure--fig:stewart-jpl) | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) | | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) Vibration Isolation (Space) | -| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (Thayer and Vagners 1998), (Thayer et al. 2002), (Hauge and Campbell 2004) | -| Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000), (Li, Hamann, and McInroy 2001), (Jafari and McInroy 2003) | -| Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (Abu Hanieh 2003), (Preumont et al. 2007) | -| SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (Taranti, Agrawal, and Cristi 2001) | +| JPL | [Figure 5](#figure--fig:stewart-jpl) | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) | | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) Vibration Isolation (Space) | +| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (Thayer and Vagners 1998), (Thayer et al. 2002), (Hauge and Campbell 2004) | +| Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000), (Li, Hamann, and McInroy 2001), (Jafari and McInroy 2003) | +| Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (Abu Hanieh 2003), (Preumont et al. 2007) | +| SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (Taranti, Agrawal, and Cristi 2001) | | SRDC | [Figure 18](#figure--fig:stewart-pph) | Non-Cubic | Flexible | Voice Coil | Accelerometers, External metrology: Eddy Current + optical | Pointing | (Chen, Bishop, and Agrawal 2003) | -| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (Chi et al. 2015), (Tang, Cao, and Yu 2018), (Jiao et al. 2018) | -| Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (Beijen et al. 2018), (Tjepkema 2012) | -| JPL | [Figure 4](#figure--fig:stewart-geng) | Cubic (6-UPU) | Flexible | Magnetostrictive | Force (collocated), Accelerometers | Vibration Isolation | (Geng and Haynes 1993), (Geng and Haynes 1994), (Geng et al. 1995) | -| China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (Zhang et al. 2011) | +| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (Chi et al. 2015), (Tang, Cao, and Yu 2018), (Jiao et al. 2018) | +| Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (Beijen et al. 2018), (Tjepkema 2012) | +| JPL | [Figure 4](#figure--fig:stewart-geng) | Cubic (6-UPU) | Flexible | Magnetostrictive | Force (collocated), Accelerometers | Vibration Isolation | (Geng and Haynes 1993), (Geng and Haynes 1994), (Geng et al. 1995) | +| China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (Zhang et al. 2011) | | Brussels | [Figure 20](#figure--fig:stewart-ulb-pz) | Cubic | Flexible | Piezoelectric, Amplified | Piezo Force | Active Damping | (Abu Hanieh, Horodinca, and Preumont 2002) | | SRDC | [Figure 19](#figure--fig:stewart-uqp) | Cubic | | Piezoelectric (50 um) | Geophone | Vibration | (Agrawal and Chen 2004) | -| Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (Ting, Jar, and Li 2006), (Ting, Li, and Nguyen 2013) | -| Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (Ting, Jar, and Li 2007) | +| Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (Ting, Jar, and Li 2006), (Ting, Li, and Nguyen 2013) | +| Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (Ting, Jar, and Li 2007) | | Harbin (China) | [Figure 12](#figure--fig:stewart-du14) | 6-SPS (Optimized) | Flexible | Piezoelectric | Strain Gauge | | (Du, Shi, and Dong 2014) | | Japan | [Figure 6](#figure--fig:stewart-furutani) | Non-Cubic | Flexible | Piezoelectric (16 um) | Eddy Current Displacement Sensors | Cutting machine | (Furutani, Suzuki, and Kudoh 2004) | -| China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (Yang et al. 2019) | -| Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (Wang et al. 2016) | +| China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (Yang et al. 2019) | +| Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (Wang et al. 2016) | | Matra (France) | [Figure 3](#figure--fig:stewart-mais) | Cubic | Flexible | Piezoelectric (25 um) | Piezo force sensors | Vibration control | (Defendini et al. 2000) | -| Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (Torii et al. 2012) | -| Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (NO_ITEM_DATA:naves20_desig; Naves et al. 2020) | +| Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (Torii et al. 2012) | +| Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (Naves 2021; Naves et al. 2020) | -{{< figure src="/ox-hugo/stewart_naves.jpg" caption="Figure 1: T-flex <&naves20_desig>" >}} +{{< figure src="/ox-hugo/stewart_naves.jpg" caption="Figure 1: T-flex (Naves et al. 2020)" >}} -{{< figure src="/ox-hugo/stewart_naval.jpg" caption="Figure 2: <&taranti01_effic_algor_vibrat_suppr>" >}} +{{< figure src="/ox-hugo/stewart_naval.jpg" caption="Figure 2: (Taranti, Agrawal, and Cristi 2001)" >}} -{{< figure src="/ox-hugo/stewart_mais.jpg" caption="Figure 3: <&defendini00_techn>" >}} +{{< figure src="/ox-hugo/stewart_mais.jpg" caption="Figure 3: (Defendini et al. 2000)" >}} -{{< figure src="/ox-hugo/stewart_geng.jpg" caption="Figure 4: <&geng94_six_degree_of_freed_activ>" >}} +{{< figure src="/ox-hugo/stewart_geng.jpg" caption="Figure 4: (Geng and Haynes 1994)" >}} -{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="Figure 5: <&spanos95_soft_activ_vibrat_isolat>" >}} +{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="Figure 5: (Spanos, Rahman, and Blackwood 1995)" >}} -{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="Figure 6: <&furutani04_nanom_cuttin_machin_using_stewar>" >}} +{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="Figure 6: (Furutani, Suzuki, and Kudoh 2004)" >}} -{{< figure src="/ox-hugo/stewart_torii.jpg" caption="Figure 7: <&torii12_small_size_self_propel_stewar_platf>" >}} +{{< figure src="/ox-hugo/stewart_torii.jpg" caption="Figure 7: (Torii et al. 2012)" >}} -{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="Figure 8: <&wang16_inves_activ_vibrat_isolat_stewar>" >}} +{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="Figure 8: (Wang et al. 2016)" >}} -{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="Figure 9: <&beijen18_self_tunin_mimo_distur_feedf>" >}} +{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="Figure 9: (Beijen et al. 2018)" >}} -{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="Figure 10: <&zhang11_six_dof>" >}} +{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="Figure 10: (Zhang et al. 2011)" >}} -{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="Figure 11: <&yang19_dynam_model_decoup_contr_flexib>" >}} +{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="Figure 11: (Yang et al. 2019)" >}} -{{< figure src="/ox-hugo/stewart_du14.jpg" caption="Figure 12: <&du14_piezo_actuat_high_precis_flexib>" >}} +{{< figure src="/ox-hugo/stewart_du14.jpg" caption="Figure 12: (Du, Shi, and Dong 2014)" >}} -{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="Figure 13: <&tang18_decen_vibrat_contr_voice_coil>" >}} +{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="Figure 13: (Tang, Cao, and Yu 2018)" >}} -{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="Figure 14: <&ting06_desig_stewar_nanos_platf>" >}} +{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="Figure 14: (Ting, Jar, and Li 2006)" >}} -{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="Figure 15: <&ting07_measur_calib_stewar_microm_system>" >}} +{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="Figure 15: (Ting, Jar, and Li 2007)" >}} -{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="Figure 16: Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions <&thayer02_six_axis_vibrat_isolat_system>" >}} +{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="Figure 16: Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions (Thayer et al. 2002)" >}} -{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="Figure 17: UW GSP: Mutually Orthogonal Stewart Geometry <&li01_simul_fault_vibrat_isolat_point>" >}} +{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="Figure 17: UW GSP: Mutually Orthogonal Stewart Geometry (Li 2001)" >}} -{{< figure src="/ox-hugo/stewart_pph.jpg" caption="Figure 18: Precision Pointing Hexapod (PPH) <&chen03_payload_point_activ_vibrat_isolat>" >}} +{{< figure src="/ox-hugo/stewart_pph.jpg" caption="Figure 18: Precision Pointing Hexapod (PPH) (Chen, Bishop, and Agrawal 2003)" >}} -{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="Figure 19: Ultra Quiet Platform (UQP) <&agrawal04_algor_activ_vibrat_isolat_spacec>" >}} +{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="Figure 19: Ultra Quiet Platform (UQP) (Agrawal and Chen 2004)" >}} -{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="Figure 20: ULB - Piezoelectric <&abu02_stiff_soft_stewar_platf_activ>" >}} +{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="Figure 20: ULB - Piezoelectric (Abu Hanieh, Horodinca, and Preumont 2002)" >}} -{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="Figure 21: ULB - Voice Coil <&hanieh03_activ_stewar>" >}} +{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="Figure 21: ULB - Voice Coil (Abu Hanieh 2003)" >}} ### Long Stroke {#long-stroke} @@ -178,25 +178,25 @@ Tags | University | Figure | Configuration | Joints | Actuators | Sensors | Link to bibliography | |----------------|------------------------------------------|---------------|--------------|-------------------------|--------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| | Japan | [Figure 22](#figure--fig:stewart-cleary) | 6-UPS | Conventional | DC, gear + rack pinion | Encoder, 7um res | (Cleary and Arai 1991) | -| Seoul | [Figure 23](#figure--fig:stewart-kim00) | Non-Cubic | Conventional | Hydraulic | LVDT | (Kim, Kang, and Lee 2000) | -| Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (Su et al. 2004) | -| Czech | [Figure 25](#figure--fig:stewart-czech) | 6-UPS | Conventional | DC, Ball Screw | Absolute Linear position | (Březina, Andrš, and Březina 2008), (Houška, Březina, and Březina 2010), (Březina and Březina 2010) | +| Seoul | [Figure 23](#figure--fig:stewart-kim00) | Non-Cubic | Conventional | Hydraulic | LVDT | (Kim, Kang, and Lee 2000) | +| Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (Su et al. 2004) | +| Czech | [Figure 25](#figure--fig:stewart-czech) | 6-UPS | Conventional | DC, Ball Screw | Absolute Linear position | (Březina, Andrš, and Březina 2008), (Houška, Březina, and Březina 2010), (Březina and Březina 2010) | -{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="Figure 22: <&cleary91_protot_paral_manip>" >}} +{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="Figure 22: (Cleary and Arai 1991)" >}} -{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="Figure 23: <&kim01_six>" >}} +{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="Figure 23: (Kim 2001)" >}} -{{< figure src="/ox-hugo/stewart_su04.jpg" caption="Figure 24: <&su04_distur_rejec_high_precis_motion>" >}} +{{< figure src="/ox-hugo/stewart_su04.jpg" caption="Figure 24: (Su et al. 2004)" >}} -{{< figure src="/ox-hugo/stewart_czech.jpg" caption="Figure 25: Stewart platform from Brno University (Czech) <&brezina08_ni_labview_matlab_simmec_stewar_platf_desig>" >}} +{{< figure src="/ox-hugo/stewart_czech.jpg" caption="Figure 25: Stewart platform from Brno University (Czech) (Březina, Andrš, and Březina 2008)" >}} ## Articles - Design Related {#articles-design-related} @@ -214,13 +214,13 @@ Tags -From (Hauge and Campbell 2004): +From (Hauge and Campbell 2004): > Elastomer flexures, rather than steel, reduce lateral stiffness and improve passive performance at payload resonance (damping) and at frequencies greater than 100 Hz. | Main Object | Link to bibliography | |--------------------|----------------------------------------------------| -| Effect of flexures | (McInroy 2002) | +| Effect of flexures | (McInroy 2002) | ### Decoupling {#decoupling} @@ -229,7 +229,7 @@ From (Hauge and Campbell 2004): | Main Object | Link to bibliography | |------------------------------------|---------------------------------------------------------------| -| Geometry for decoupling (CoM, CoK) | (McInroy and Hamann 2000) | +| Geometry for decoupling (CoM, CoK) | (McInroy and Hamann 2000) | | | (Afzali-Far 2016) | @@ -240,14 +240,14 @@ From (Hauge and Campbell 2004): | Figure | Link to bibliography | |------------------------------------------|----------------------------------------------------------------------------------------------------------------------------| | [Figure 26](#figure--fig:stewart-dong07) | (Dong, Sun, and Du 2008), (Dong, Sun, and Du 2007) | -| | (Kim and Cho 2009) | -| | (Yun and Li 2010) | -| | (NO_ITEM_DATA:gao02_necw_kinem_struc_paral_manip_desig) | -| | (Horin and Shoham 2006) | +| | (Kim and Cho 2009) | +| | (Yun and Li 2010) | +| | (Gao et al. 2002) | +| | (Horin and Shoham 2006) | -{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="Figure 26: <&dong07_desig_precis_compl_paral_posit>" >}} +{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="Figure 26: (Dong, Sun, and Du 2007)" >}} ### Workspace {#workspace} @@ -257,9 +257,9 @@ From (Hauge and Campbell 2004): | Main Object | Link to bibliography | |------------------------------------------------------|----------------------------------------------------------------| | Compute orientation | (Bonev and Ryu 2001) | -| Reachable Workspace | (Pernkopf and Husty 2006) | -| Determination of the max. singularity free workspace | (Jiang and Gosselin 2009a) | -| Orientation Workspace | (Jiang and Gosselin 2009b) | +| Reachable Workspace | (Pernkopf and Husty 2006) | +| Determination of the max. singularity free workspace | (Jiang and Gosselin 2009a) | +| Orientation Workspace | (Jiang and Gosselin 2009b) | ### Modelling {#modelling} @@ -296,7 +296,7 @@ Several approaches can be used (Section ). -From (Hauge and Campbell 2004): +From (Hauge and Campbell 2004): > In general, force sensors such as load cells, work well to measure vibration, but have difficulty with cross-axis dynamics. > Inertial sensors, on the other hand, do not have this cross-axis limitation, but are usually more sensitive to payload and base dynamics and are more difficult to control due to the non-collocated nature of the sensor and actuator. @@ -309,43 +309,43 @@ From (Hauge and Campbell 2004): | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |------------|------------------|------------------------------------|--------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (Geng et al. 1995) | -| JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) | -| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | -| Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (O’Brien et al. 1998) | -| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (Geng et al. 1995) | +| JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (Spanos, Rahman, and Blackwood 1995), (Rahman, Spanos, and Laskin 1998) | +| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | +| Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (O’Brien et al. 1998) | +| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | | Brussels | APA | Piezo force sensor | Decentralized IFF | | (Abu Hanieh, Horodinca, and Preumont 2002) | -| Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (Preumont et al. 2007) | -| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | -| China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (Yang et al. 2017) | -| Washinton | Voice Coil | Force | Decentralized IFF | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (Hauge and Campbell 2004) | -| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | +| Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (Preumont et al. 2007) | +| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | +| China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (Yang et al. 2017) | +| Washinton | Voice Coil | Force | Decentralized IFF | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (Hauge and Campbell 2004) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | #### Sky-Hood Damping {#sky-hood-damping} | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |----------------|------------|---------------------------------------------------|---------------------------------------------------------------------------------------|--------------------------------------------------------------------------------------------|--------------------------------------------------------------------| -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | | China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | | (Abbas and Hai 2014) | | Einhoven | Voice Coil | 6dof Accelerometers on mobile and fixed platforms | Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping) | | (Beijen et al. 2018) | -| Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (Tang, Cao, and Yu 2018) | -| Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer et al. 2002) | -| Washinton | Voice Coil | Geophones | Decentralized Sky Hood Damping | Comparison of force sensor and inertial sensors | (Hauge and Campbell 2004) | -| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | Model + active damping with flexible hinges | (Jiao et al. 2018) | +| Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (Tang, Cao, and Yu 2018) | +| Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer et al. 2002) | +| Washinton | Voice Coil | Geophones | Decentralized Sky Hood Damping | Comparison of force sensor and inertial sensors | (Hauge and Campbell 2004) | +| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | Model + active damping with flexible hinges | (Jiao et al. 2018) | #### Vibration Control of Narrowband Disturbances {#vibration-control-of-narrowband-disturbances} | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |------------|------------------|------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------|------------------------------------------------------------------------------------------------------------------------| -| JPL | Magnetostrictive | Force, Accelerometers | Robust Adaptive Filter | Hardware implementation | (Geng and Haynes 1993), (Geng and Haynes 1994) | +| JPL | Magnetostrictive | Force, Accelerometers | Robust Adaptive Filter | Hardware implementation | (Geng and Haynes 1993), (Geng and Haynes 1994) | | SRDC | | | LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID | Rejection of narrowband periodic disturbances | (Chen, Bishop, and Agrawal 2003) | -| Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (Lin and McInroy 2003) | +| Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (Lin and McInroy 2003) | | SRDC | Piezo | Geophone (collocated) | "multiple error LMS" (require measured disturbance) vs "clear box" | | (Agrawal and Chen 2004) | -| China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (Zhang et al. 2011) | -| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | +| China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (Zhang et al. 2011) | +| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | ### Position Control {#position-control} @@ -363,17 +363,17 @@ Control Strategy: | University | Actuators | Sensors | Control | Modelling | Main Object | Link to bibliography | |----------------|---------------|------------------------------------------------|---------------------------------------------------------------------------------------|-----------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM => State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | -| Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | -| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | | (Kim, Kang, and Lee 2000) | -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | +| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM => State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | +| Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | | (Kim, Kang, and Lee 2000) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Analytical equations | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | | Japan | APA | Eddy current displacement | Decentralized (struts) PI + LPF control | | | (Furutani, Suzuki, and Kudoh 2004) | -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (Pu et al. 2011) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (Pu et al. 2011) | | Harbin (China) | PZT Piezo | Strain Gauge | Decentralized position feedback | | Workspace, Stiffness analyzed | (Du, Shi, and Dong 2014) | -| China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (Min, Huang, and Su 2019) | -| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Solid/Flexible | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | +| China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (Min, Huang, and Su 2019) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Solid/Flexible | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | -From: (Yang et al. 2019): +From: (Yang et al. 2019): > On the other hand, the traditional modal decoupled control strategy cannot deal with the flexible Stewart platform governed by Eq. (34) because it is impossible to achieve simultaneous diagonalization of the mass, damping and stiffness matrices. > To make the six-DOF system decoupled into six single-DOF isolators, we design a new controller based on the leg’s force and position feedback. @@ -397,36 +397,36 @@ Comparison between "two sensor control" and "sensor fusion" is given in (Hauge and Campbell 2004) | -| Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012) | +| Washinton | Voice Coil | Force and Inertial | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (Hauge and Campbell 2004) | +| Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012) | #### HAC-LAC {#hac-lac} | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |------------|------------------|---------------------------------------------------|---------------------------------------------------------------------------------------|--------------------------------------------------------------|--------------------------------------------------------------------| -| JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (Geng et al. 1995) | -| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | -| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (Xie, Wang, and Zhang 2017) | +| JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (Geng et al. 1995) | +| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (Wang et al. 2016) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (Li, Hamann, and McInroy 2001) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (Pu et al. 2011) | +| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (Xie, Wang, and Zhang 2017) | #### Sensor Fusion {#sensor-fusion} | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |-------------|------------|------------------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------| -| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012), (Tjepkema, van Dijk, and Soemers 2012) | -| Washinton | Voice Coil | Force (HF) and Inertial (LF) | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (Hauge and Campbell 2004) | +| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (Tjepkema 2012), (Tjepkema, van Dijk, and Soemers 2012) | +| Washinton | Voice Coil | Force (HF) and Inertial (LF) | LQG, Decentralized, Sensor Fusion | Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (Hauge and Campbell 2004) | #### Other Strategies {#other-strategies} | University | Actuators | Sensors | Control | Main Object | Link to bibliography | |------------|---------------|------------------------|--------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | -| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | -| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | (Yang et al. 2019) | +| Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (Thayer and Vagners 1998), (Thayer et al. 2002) | +| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | ### Decoupling Strategies {#decoupling-strategies} @@ -437,7 +437,7 @@ Different strategies: - Modal decoupling - SVD decoupling -Identify Jacobian for better decoupling: (Cheng, Ren, and Dai 2004), (Gexue et al. 2004). +Identify Jacobian for better decoupling: (Cheng, Ren, and Dai 2004), (Gexue et al. 2004). @@ -451,31 +451,31 @@ Identify Jacobian for better decoupling: (Cheng, #### Jacobian - Cartesian {#jacobian-cartesian} -| Wyoming | Voice Coil | Force | Cartesian frame decoupling | (O’Brien et al. 1998) | +| Wyoming | Voice Coil | Force | Cartesian frame decoupling | (O’Brien et al. 1998) | |---------|------------|------------------------------------------------|---------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| -| Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | -| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | (Kim, Kang, and Lee 2000) | -| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (Li, Hamann, and McInroy 2001) | +| Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (McInroy 1999), (McInroy, O’Brien, and Neat 1999), (McInroy and Hamann 2000) | +| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | (Kim, Kang, and Lee 2000) | +| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (Li, Hamann, and McInroy 2001) | | China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | (Abbas and Hai 2014) | #### Modal Decoupling {#modal-decoupling} -| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (Pu et al. 2011) | +| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (Pu et al. 2011) | |-------|---------------|----------------------------------------------|--------------------------------------------------------------------|--------------------------------------------------------| -| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (Yang et al. 2019) | +| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (Yang et al. 2019) | #### Multivariable Control {#multivariable-control} -From (Thayer et al. 2002): +From (Thayer et al. 2002): > Experimental closed-loopcontrol results using the hexapod have shown that controllers designed using a decentralized single-strut design work well when compared to full multivariable methodologies. -| China | PZT | Geophone (struts) | H-Infinity and mu-synthesis | (Lei and Benli 2008) | +| China | PZT | Geophone (struts) | H-Infinity and mu-synthesis | (Lei and Benli 2008) | |----------------|------------|---------------------------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------------------------| -| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (Xie, Wang, and Zhang 2017) | -| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | (Jiao et al. 2018) | +| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (Xie, Wang, and Zhang 2017) | +| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | (Jiao et al. 2018) | ### Long Stroke Stewart Platforms {#long-stroke-stewart-platforms} @@ -485,12 +485,12 @@ From (Thayer et al. 2002): | Link to bibliography | University | Actuators | Sensors | Control | Main Object | |-------------------------------------------------------------------------------------------------------------------------------------------------|----------------|------------------------|------------------|--------------------------------------------------|--------------------------------------------| | (Cleary and Arai 1991) | Japan | DC, gear + rack pinion | Encoder, 7um res | Decentralized (struts), PID control | Singular configuration analysis, workspace | -| (Su et al. 2004) | Xidian (China) | | | | | -| (Huang and Fu 2005) | Taiwan | | | | | -| (Březina, Andrš, and Březina 2008), (Houška, Březina, and Březina 2010) | Czech | DC | | | Modeling with sim-mechanics | -| (Molina, Rosario, and Sanchez 2008) | Brazil | | | | Simulation with Matlab/Simulink | -| (Yang et al. 2010) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics | -| (Kim, Kang, and Lee 2000) | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | +| (Su et al. 2004) | Xidian (China) | | | | | +| (Huang and Fu 2005) | Taiwan | | | | | +| (Březina, Andrš, and Březina 2008), (Houška, Březina, and Březina 2010) | Czech | DC | | | Modeling with sim-mechanics | +| (Molina, Rosario, and Sanchez 2008) | Brazil | | | | Simulation with Matlab/Simulink | +| (Yang et al. 2010) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics | +| (Kim, Kang, and Lee 2000) | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | ## Main Bibliography {#main-bibliography} @@ -498,28 +498,28 @@ From (Thayer et al. 2002): ### Books {#books} -- (Merlet 2006) -- (Taghirad 2013) -- (Preumont 2018) +- (Merlet 2006) +- (Taghirad 2013) +- (Preumont 2018) - (Arakelian 2018) ### PhD Thesis {#phd-thesis} -- (Li 2001) +- (Li 2001) - (Bishop Jr 2002) - (Abu Hanieh 2003) -- (Vivas 2004) +- (Vivas 2004) - (Afzali-Far 2016) - (Deng 2017) -- (NO_ITEM_DATA:naves20_desig) +- (Naves et al. 2020) ### Articles - Reviews {#articles-reviews} - (Dasgupta and Mruthyunjaya 2000) -- (Merlet 2002) -- (Patel and George 2012) +- (Merlet 2002) +- (Patel and George 2012) - (Buzurovic 2012) - (Furqan, Suhaib, and Ahmad 2017) @@ -552,61 +552,62 @@ From (Thayer et al. 2002):
Du, Z., R. Shi, and W. Dong. 2014. “A Piezo-Actuated High-Precision Flexible Parallel Pointing Mechanism: Conceptual Design, Development, and Experiments.” IEEE Transactions on Robotics 30 (1): 131–37. doi:10.1109/tro.2013.2288800.
Furqan, Mohd, Mohd Suhaib, and Nazeer Ahmad. 2017. “Studies on Stewart Platform Manipulator: A Review.” Journal of Mechanical Science and Technology 31 (9): 4459–70. doi:10.1007/s12206-017-0846-1.
Furutani, K., M. Suzuki, and R. Kudoh. 2004. “Nanometre-Cutting Machine Using a Stewart-Platform Parallel Mechanism.” Measurement Science and Technology 15 (2): 467–74. doi:10.1088/0957-0233/15/2/022.
-
Geng, Zheng, and Leonard S. Haynes. 1993. “Six-Degree-of-Freedom Active Vibration Isolation Using a Stewart Platform Mechanism.” Journal of Robotic Systems 10 (5): 725–44. doi:10.1002/rob.4620100510.
-
Geng, Z. J., and L. S. Haynes. 1994. “Six Degree-of-Freedom Active Vibration Control Using the Stewart Platforms.” IEEE Transactions on Control Systems Technology 2 (1): 45–53. doi:10.1109/87.273110.
-
Geng, Z. J., G. G. Pan, L. S. Haynes, B. K. Wada, and J. A. Garba. 1995. “An Intelligent Control System for Multiple Degree-of-Freedom Vibration Isolation.” Journal of Intelligent Material Systems and Structures 6 (6): 787–800. doi:10.1177/1045389x9500600607.
-
Gexue, Ren, Lu Qiuhai, Hu Ning, Nan Rendong, and Peng Bo. 2004. “On Vibration Control with Stewart Parallel Mechanism.” Mechatronics 14 (1): 1–13. doi:10.1016/s0957-4158(02)00092-2.
-
Hauge, G. S., and M. E. Campbell. 2004. “Sensors and Control of a Space-Based Six-Axis Vibration Isolation System.” Journal of Sound and Vibration 269 (3-5): 913–31. doi:10.1016/s0022-460x(03)00206-2.
-
Horin, P. Ben, and M. Shoham. 2006. “Singularity Condition of Six-Degree-of-Freedom Three-Legged Parallel Robots Based on Grassmann-Cayley Algebra.” IEEE Transactions on Robotics 22 (4): 577–90. doi:10.1109/tro.2006.878958.
-
Houška, P., T. Březina, and L. Březina. 2010. “Design and Implementation of the Absolute Linear Position Sensor for the Stewart Platform.” In Recent Advances in Mechatronics, 347–52. Recent Advances in Mechatronics. Springer Berlin Heidelberg. doi:10.1007/978-3-642-05022-0_59.
-
Huang, Chin I, and Li-Chen Fu. 2005. “Smooth Sliding Mode Tracking Control of the Stewart Platform.” In Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005. doi:10.1109/cca.2005.1507098.
-
Jafari, F., and J. E. McInroy. 2003. “Orthogonal Gough-Stewart Platforms for Micromanipulation.” IEEE Transactions on Robotics and Automation 19 (4). Institute of Electrical and Electronics Engineers (IEEE): 595–603. doi:10.1109/tra.2003.814506.
-
Jiang, Qimi, and Clément M. Gosselin. 2009a. “Determination of the Maximal Singularity-Free Orientation Workspace for the Gough-Stewart Platform.” Mechanism and Machine Theory 44 (6): 1281–93. doi:10.1016/j.mechmachtheory.2008.07.005.
-
———. 2009b. “Evaluation and Representation of the Theoretical Orientation Workspace of the Gough-Stewart Platform.” Journal of Mechanisms and Robotics 1 (2). doi:10.1115/1.3046137.
-
Jiao, J., Y. Wu, K. Yu, and R. Zhao. 2018. “Dynamic Modeling and Experimental Analyses of Stewart Platform with Flexible Hinges.” Journal of Vibration and Control 25 (1): 151–71. doi:10.1177/1077546318772474.
-
Kim, D. H., J.-Y. Kang, and K.-I. Lee. 2000. “Robust Tracking Control Design for a 6 Dof Parallel Manipulator.” Journal of Robotic Systems 17 (10): 527–47. doi:10.1002/1097-4563(200010)17:10$<$527:AID-ROB2>3.0.CO;2-A.
-
Kim, Hwa Soo, and Young Man Cho. 2009. “Design and Modeling of a Novel 3-Dof Precision Micro-Stage.” Mechatronics 19 (5): 598–608. doi:10.1016/j.mechatronics.2009.01.004.
-
Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” Chinese Journal of Aeronautics 21 (2): 125–33. doi:10.1016/s1000-9361(08)60016-3.
-
Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” IEEE Transactions on Control Systems Technology 11 (2): 267–72. doi:10.1109/tcst.2003.809248.
-
Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.
-
Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In Smart Structures and Materials 2001: Smart Structures and Integrated Systems. doi:10.1117/12.436521.
-
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). doi:10.1109/cca.1999.806694.
-
———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” IEEE/ASME Transactions on Mechatronics 7 (1): 95–99. doi:10.1109/3516.990892.
-
McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” IEEE Transactions on Robotics and Automation 16 (4): 372–81. doi:10.1109/70.864229.
-
McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” IEEE/ASME Transactions on Mechatronics 4 (1): 91–95. doi:10.1109/3516.752089.
-
Merlet, J. P. 2006. Parallel Robots. 2nd ed. Springer Publishing Company, Incorporated.
-
Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In Proc. ASME 2002 DETC Conf., Montreal. https://api.semanticscholar.org/CorpusID:53859752.
-
Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In 2019 Chinese Control Conference (CCC). doi:10.23919/chicc.2019.8866606.
-
Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In 7th Brazilian Conference on Dynamics, Control & Applications.
-
Naves, M, WBJ Hakvoort, M Nijenhuis, and DM Brouwer. 2020. “T-Flex: A Large Range of Motion Fully Flexure-Based 6-DOF Hexapod.” In 20th EUSPEN International Conference & Exhibition, EUSPEN 2020, 205–8. EUSPEN.
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O’Brien, J.F., J.E. McInroy, D. Bodtke, M. Bruch, and J.C. Hamann. 1998. “Lessons Learned in Nonlinear Systems and Flexible Robots through Experiments on a 6 Legged Platform.” In Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207). doi:10.1109/acc.1998.703532.
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Patel, Y. D., and P. M. George. 2012. “Parallel Manipulators Applications-a Survey.” Modern Mechanical Engineering 02 (03). Scientific Research Publishing, Inc,: 57–64. doi:10.4236/mme.2012.23008.
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Pernkopf, F, and M L Husty. 2006. “Workspace Analysis of Stewart-Gough-Type Parallel Manipulators.” Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science 220 (7): 1019–32. doi:10.1243/09544062jmes194.
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Preumont, A. 2018. Vibration Control of Active Structures - Fourth Edition. Solid Mechanics and Its Applications. Springer International Publishing. doi:10.1007/978-3-319-72296-2.
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Preumont, A., M. Horodinca, I. Romanescu, B. de Marneffe, M. Avraam, A. Deraemaeker, F. Bossens, and A. Abu Hanieh. 2007. “A Six-Axis Single-Stage Active Vibration Isolator Based on Stewart Platform.” Journal of Sound and Vibration 300 (3-5): 644–61. doi:10.1016/j.jsv.2006.07.050.
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Pu, H., X. Chen, Z. Zhou, and X. Luo. 2011. “Six-Degree-of-Freedom Active Vibration Isolation System with Decoupled Collocated Control.” Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture 226 (2): 313–25. doi:10.1177/0954405411414336.
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Rahman, Z. H., J. T. Spanos, and R. A. Laskin. 1998. “Multiaxis Vibration Isolation, Suppression, and Steering System for Space Observational Applications.” In Telescope Control Systems III. doi:10.1117/12.308821.
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Spanos, J., Z. Rahman, and G. Blackwood. 1995. “A Soft 6-Axis Active Vibration Isolator.” In Proceedings of 1995 American Control Conference - ACC’95. doi:10.1109/acc.1995.529280.
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Su, Y.X., B.Y. Duan, C.H. Zheng, Y.F. Zhang, G.D. Chen, and J.W. Mi. 2004. “Disturbance-Rejection High-Precision Motion Control of a Stewart Platform.” IEEE Transactions on Control Systems Technology 12 (3): 364–74. doi:10.1109/tcst.2004.824315.
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Taghirad, H. 2013. Parallel Robots : Mechanics and Control. Boca Raton, FL: CRC Press.
-
Tang, J., D. Cao, and T. Yu. 2018. “Decentralized Vibration Control of a Voice Coil Motor-Based Stewart Parallel Mechanism: Simulation and Experiments.” Proceedings of the Institution of Mechanical Engineers, Part c: Journal of Mechanical Engineering Science 233 (1): 132–45. doi:10.1177/0954406218756941.
-
Taranti, Christian, Brij Agrawal, and Roberto Cristi. 2001. “An Efficient Algorithm for Vibration Suppression to Meet Pointing Requirements of Optical Payloads.” In AIAA Guidance, Navigation, and Control Conference and Exhibit, 4094.
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Thayer, D., and J. Vagners. 1998. “A Look at the Pole/Zero Structure of a Stewart Platform Using Special Coordinate Basis.” In Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207). doi:10.1109/acc.1998.703595.
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Thayer, D., M. Campbell, J. Vagners, and A. von Flotow. 2002. “Six-Axis Vibration Isolation System Using Soft Actuators and Multiple Sensors.” Journal of Spacecraft and Rockets 39 (2): 206–12. doi:10.2514/2.3821.
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Ting, Y., H.-C. Jar, and C.-C. Li. 2007. “Measurement and Calibration for Stewart Micromanipulation System.” Precision Engineering 31 (3): 226–33. doi:10.1016/j.precisioneng.2006.09.004.
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Ting, Y., C.-C. Li, and T. V. Nguyen. 2013. “Composite Controller Design for a 6dof Stewart Nanoscale Platform.” Precision Engineering 37 (3): 671–83. doi:10.1016/j.precisioneng.2013.01.012.
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Ting, Yung, H.-C. Jar, and Chun-Chung Li. 2006. “Design of a 6DOF Stewart-Type Nanoscale Platform.” In 2006 Sixth IEEE Conference on Nanotechnology. doi:10.1109/nano.2006.247808.
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Tjepkema, D. 2012. “Active Hard Mount Vibration Isolation for Precision Equipment [Ph. D. Thesis].”
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Tjepkema, D., J. van Dijk, and H. M. J. R. Soemers. 2012. “Sensor Fusion for Active Vibration Isolation in Precision Equipment.” Journal of Sound and Vibration 331 (4): 735–49. doi:10.1016/j.jsv.2011.09.022.
-
Torii, Akihiro, Masaaki Banno, Akiteru Ueda, and Kae Doki. 2012. “A Small-Size Self-Propelled Stewart Platform.” Electrical Engineering in Japan 181 (2): 37–46. doi:10.1002/eej.21261.
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Vivas, Oscar Andrés. 2004. “Contribution À L’identification et À La Commande Des Robots Parallèles.” Université Montpellier II-Sciences et Techniques du Languedoc.
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Wang, C., X. Xie, Y. Chen, and Z. Zhang. 2016. “Investigation on Active Vibration Isolation of a Stewart Platform with Piezoelectric Actuators.” Journal of Sound and Vibration 383. Elsevier BV: 1–19. doi:10.1016/j.jsv.2016.07.021.
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Xie, X., C. Wang, and Z. Zhang. 2017. “Modeling and Control of a Hybrid Passive/Active Stewart Vibration Isolation Platform.” In INTER-NOISE and NOISE-CON Congress and Conference Proceedings, 255:1844–53. 6. Institute of Noise Control Engineering.
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Yang, Chifu, Zhengmao Ye, O. Ogbobe Peter, and Junwei Han. 2010. “Modeling and Simulation of Spatial 6-DOF Parallel Robots Using Simulink and SimMechanics.” In 2010 3rd International Conference on Computer Science and Information Technology. doi:10.1109/iccsit.2010.5563824.
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Yang, XiaoLong, HongTao Wu, Yao Li, and Bai Chen. 2017. “Dynamic Isotropic Design and Decentralized Active Control of a Six-Axis Vibration Isolator via Stewart Platform.” Mechanism and Machine Theory 117: 244–52. doi:10.1016/j.mechmachtheory.2017.07.017.
-
Yang, X., H. Wu, B. Chen, S. Kang, and S. Cheng. 2019. “Dynamic Modeling and Decoupled Control of a Flexible Stewart Platform for Vibration Isolation.” Journal of Sound and Vibration 439. Elsevier BV: 398–412. doi:10.1016/j.jsv.2018.10.007.
-
Yun, Yuan, and Yangmin Li. 2010. “Design and Analysis of a Novel 6-Dof Redundant Actuated Parallel Robot with Compliant Hinges for High Precision Positioning.” Nonlinear Dynamics 61 (4): 829–45. doi:10.1007/s11071-010-9690-x.
-
Zhang, Z., J. Liu, J. Mao, Y. Guo, and Y. Ma. 2011. “Six DOF Active Vibration Control Using Stewart Platform with Non-Cubic Configuration.” In 2011 6th IEEE Conference on Industrial Electronics and Applications. doi:10.1109/iciea.2011.5975679.
-
NO_ITEM_DATA:naves20_desig
-
NO_ITEM_DATA:gao02_necw_kinem_struc_paral_manip_desig
+
Gao, Feng, Weimin Li, Xianchao Zhao, Zhenlin Jin, and Hui Zhao. 2002. “New Kinematic Structures for 2-, 3-, 4-, and 5-Dof Parallel Manipulator Designs.” Mechanism and Machine Theory 37 (11): 1395–1411. doi:10.1016/s0094-114x(02)00044-7.
+
Geng, Zheng, and Leonard S. Haynes. 1993. “Six-Degree-of-Freedom Active Vibration Isolation Using a Stewart Platform Mechanism.” Journal of Robotic Systems 10 (5): 725–44. doi:10.1002/rob.4620100510.
+
Geng, Z. J., and L. S. Haynes. 1994. “Six Degree-of-Freedom Active Vibration Control Using the Stewart Platforms.” IEEE Transactions on Control Systems Technology 2 (1): 45–53. doi:10.1109/87.273110.
+
Geng, Z. J., G. G. Pan, L. S. Haynes, B. K. Wada, and J. A. Garba. 1995. “An Intelligent Control System for Multiple Degree-of-Freedom Vibration Isolation.” Journal of Intelligent Material Systems and Structures 6 (6): 787–800. doi:10.1177/1045389x9500600607.
+
Gexue, Ren, Lu Qiuhai, Hu Ning, Nan Rendong, and Peng Bo. 2004. “On Vibration Control with Stewart Parallel Mechanism.” Mechatronics 14 (1): 1–13. doi:10.1016/s0957-4158(02)00092-2.
+
Hauge, G. S., and M. E. Campbell. 2004. “Sensors and Control of a Space-Based Six-Axis Vibration Isolation System.” Journal of Sound and Vibration 269 (3-5): 913–31. doi:10.1016/s0022-460x(03)00206-2.
+
Horin, P. Ben, and M. Shoham. 2006. “Singularity Condition of Six-Degree-of-Freedom Three-Legged Parallel Robots Based on Grassmann-Cayley Algebra.” IEEE Transactions on Robotics 22 (4): 577–90. doi:10.1109/tro.2006.878958.
+
Houška, P., T. Březina, and L. Březina. 2010. “Design and Implementation of the Absolute Linear Position Sensor for the Stewart Platform.” In Recent Advances in Mechatronics, 347–52. Recent Advances in Mechatronics. Springer Berlin Heidelberg. doi:10.1007/978-3-642-05022-0_59.
+
Huang, Chin I, and Li-Chen Fu. 2005. “Smooth Sliding Mode Tracking Control of the Stewart Platform.” In Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005. doi:10.1109/cca.2005.1507098.
+
Jafari, F., and J. E. McInroy. 2003. “Orthogonal Gough-Stewart Platforms for Micromanipulation.” IEEE Transactions on Robotics and Automation 19 (4). Institute of Electrical and Electronics Engineers (IEEE): 595–603. doi:10.1109/tra.2003.814506.
+
Jiang, Qimi, and Clément M. Gosselin. 2009a. “Determination of the Maximal Singularity-Free Orientation Workspace for the Gough-Stewart Platform.” Mechanism and Machine Theory 44 (6): 1281–93. doi:10.1016/j.mechmachtheory.2008.07.005.
+
———. 2009b. “Evaluation and Representation of the Theoretical Orientation Workspace of the Gough-Stewart Platform.” Journal of Mechanisms and Robotics 1 (2). doi:10.1115/1.3046137.
+
Jiao, J., Y. Wu, K. Yu, and R. Zhao. 2018. “Dynamic Modeling and Experimental Analyses of Stewart Platform with Flexible Hinges.” Journal of Vibration and Control 25 (1): 151–71. doi:10.1177/1077546318772474.
+
Kim, D. H., J.-Y. Kang, and K.-I. Lee. 2000. “Robust Tracking Control Design for a 6 Dof Parallel Manipulator.” Journal of Robotic Systems 17 (10): 527–47. doi:10.1002/1097-4563(200010)17:10$<$527:AID-ROB2>3.0.CO;2-A.
+
Kim, Hwa Soo, and Young Man Cho. 2009. “Design and Modeling of a Novel 3-Dof Precision Micro-Stage.” Mechatronics 19 (5): 598–608. doi:10.1016/j.mechatronics.2009.01.004.
+
Kim, Won-jong. 2001. “Six-Axis Nano-Positioning with Planar Magnetic Levitation.” In Proceedings of the 2001 1st IEEE Conference on Nanotechnology. IEEE-NANO 2001 (Cat. No.01EX516). doi:10.1109/nano.2001.966414.
+
Lei, L., and W. Benli. 2008. “Multi Objective Robust Active Vibration Control for Flexure Jointed Struts of Stewart Platforms via $H_\Infty$ and $\Mu$ Synthesis.” Chinese Journal of Aeronautics 21 (2): 125–33. doi:10.1016/s1000-9361(08)60016-3.
+
Lin, Haomin, and J.E. McInroy. 2003. “Adaptive Sinusoidal Disturbance Cancellation for Precise Pointing of Stewart Platforms.” IEEE Transactions on Control Systems Technology 11 (2): 267–72. doi:10.1109/tcst.2003.809248.
+
Li, X. 2001. “Simultaneous, Fault-Tolerant Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” University of Wyoming.
+
Li, Xiaochun, Jerry C. Hamann, and John E. McInroy. 2001. “Simultaneous Vibration Isolation and Pointing Control of Flexure Jointed Hexapods.” In Smart Structures and Materials 2001: Smart Structures and Integrated Systems. doi:10.1117/12.436521.
+
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). doi:10.1109/cca.1999.806694.
+
———. 2002. “Modeling and Design of Flexure Jointed Stewart Platforms for Control Purposes.” IEEE/ASME Transactions on Mechatronics 7 (1): 95–99. doi:10.1109/3516.990892.
+
McInroy, J. E., and J. C. Hamann. 2000. “Design and Control of Flexure Jointed Hexapods.” IEEE Transactions on Robotics and Automation 16 (4): 372–81. doi:10.1109/70.864229.
+
McInroy, J.E., J.F. O’Brien, and G.W. Neat. 1999. “Precise, Fault-Tolerant Pointing Using a Stewart Platform.” IEEE/ASME Transactions on Mechatronics 4 (1): 91–95. doi:10.1109/3516.752089.
+
Merlet, J. P. 2006. Parallel Robots. 2nd ed. Springer Publishing Company, Incorporated.
+
Merlet, J.-P. 2002. “Still a Long Way to Go on the Road for Parallel Mechanisms.” In Proc. ASME 2002 DETC Conf., Montreal. https://api.semanticscholar.org/CorpusID:53859752.
+
Min, Da, Deqing Huang, and Hu Su. 2019. “High-Precision Tracking of Cubic Stewart Platform Using Active Disturbance Rejection Control.” In 2019 Chinese Control Conference (CCC). doi:10.23919/chicc.2019.8866606.
+
Molina, Fabian Andres Lara, Joao Mauricio Rosario, and Oscar Fernando Aviles Sanchez. 2008. “Simulation Environment Proposal, Analysis and Control of a Stewart Platform Manipulator.” In 7th Brazilian Conference on Dynamics, Control & Applications.
+
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diff --git a/content/zettels/structured_singular_value.md b/content/zettels/structured_singular_value.md deleted file mode 100644 index 739ee2b..0000000 --- a/content/zettels/structured_singular_value.md +++ /dev/null @@ -1,16 +0,0 @@ -+++ -title = "Structured Singular Value" -author = ["Dehaeze Thomas"] -draft = false -category = "Control Theory" -subcategory = "Advanced Control" -+++ - -Tags -: - - -## Bibliography {#bibliography} - -
-
diff --git a/content/zettels/transconductance_amplifiers.md b/content/zettels/transconductance_amplifiers.md index 06738dd..24b7cce 100644 --- a/content/zettels/transconductance_amplifiers.md +++ b/content/zettels/transconductance_amplifiers.md @@ -57,7 +57,7 @@ Such amplifier is used to control motors (e.g. voice coil, BLDC, stepper motors, ## Required properties {#required-properties} -Main required properties are (taken from (Schmidt, Schitter, and Rankers 2020)): +Main required properties are (taken from (Schmidt, Schitter, and Rankers 2020)): - **Power delivery capability** - **Dynamic properties** @@ -221,14 +221,14 @@ Howland current source is shown in [Figure 1](#figure--fig:art-electronics-curre -{{< figure src="/ox-hugo/art_electronics_current_source.png" caption="Figure 1: From <&horowitz15_art_of_elect_third_edition>" >}} +{{< figure src="/ox-hugo/art_electronics_current_source.png" caption="Figure 1: From (Horowitz 2015)" >}} ### Other circuits found in the litterature {#other-circuits-found-in-the-litterature} -{{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="Figure 2: From <&lafarga24_activ_vibrat_isolat_system_space_applic>, Appendix B" >}} +{{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="Figure 2: From (Lafarga 2024), Appendix B" >}} -{{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="Figure 3: From <&okyay16_mechat_desig_dynam_contr_metrol>, Appendix A" >}} +{{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="Figure 3: From (Okyay 2016), Appendix A" >}} ## Estimation of the required current noise {#estimation-of-the-required-current-noise} @@ -345,5 +345,7 @@ In = 2.4e-06 [A/sqrt(Hz)]
Horowitz, Paul. 2015. The Art of Electronics - Third Edition. New York, NY, USA: Cambridge University Press.
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Schmidt, R. M., G. Schitter, and A. Rankers. 2020. The Design of High Performance Mechatronics - Third Revised Edition. Ios Press.
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Lafarga, Vicente. 2024. “Active Vibration Isolation System for Space Applications.” ULB.
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Okyay, A. 2016. “Mechatronic Design, Dynamics, Controls, and Metrology of a Long-Stroke Linear Nano-Positioner.” University of Waterloo.
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Schmidt, R. M., G. Schitter, and A. Rankers. 2020. The Design of High Performance Mechatronics - Third Revised Edition. Ios Press.