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content/article/kothare94_unified_framew_study_anti_windup_desig.md
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title = "A unified framework for the study of anti-windup designs"
author = ["Dehaeze Thomas"]
draft = true
+++
Tags
:
Reference
: (<a href="#citeproc_bib_item_1">Kothare et al. 1994</a>)
Author(s)
: Kothare, M. V., Campo, P. J., Morari, M., &amp; Nett, C. N.
Year
: 1994
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Kothare, Mayuresh V., Peter J. Campo, Manfred Morari, and Carl N. Nett. 1994. “A Unified Framework for the Study of Anti-Windup Designs.” <i>Automatica</i> 30 (12): 1869–83. doi:<a href="https://doi.org/10.1016/0005-1098(94)90048-5">10.1016/0005-1098(94)90048-5</a>.</div>
</div>
content/book/horowitz15_art_of_elect_third_edition.md
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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
: (<a href="#citeproc_bib_item_1">Horowitz 2015</a>)
Author(s)
: Horowitz, P.
Year
: 2015
## Bibliography {#bibliography}
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Horowitz, Paul. 2015. <i>The Art of Electronics - Third Edition</i>. New York, NY, USA: Cambridge University Press.</div>
</div>
content/posts/test2.md
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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}
<div class="important">
this is an important block
</div>
content/zettels/analog_to_digital_converters.md
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{{< youtube b9lxtOJj3yU >}} {{< youtube b9lxtOJj3yU >}}
Also see (<a href="#citeproc_bib_item_3">Kester 2005</a>). Also see (<a href="#citeproc_bib_item_4">Kester 2005</a>).
## Link between required dynamic range and effective number of bits {#link-between-required-dynamic-range-and-effective-number-of-bits} ## 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 (<a href="#citeproc_bib_item_3">Kester 2005</a>).
## Oversampling {#oversampling} ## Oversampling {#oversampling}
(<a href="#citeproc_bib_item_4">Lab 2013</a>) (<a href="#citeproc_bib_item_5">Lab 2013</a>)
To have additional \\(w\\) bits of resolution, the oversampling frequency \\(f\_{os}\\) should be: 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 f\_{os} = 4^w \cdot f\_s
\end{equation} \end{equation}
(NO_ITEM_DATA:hauser91_princ_overs_conver) (<a href="#citeproc_bib_item_3">Hauser 1991</a>)
### When Oversampling and Averaging Will Work {#when-oversampling-and-averaging-will-work} ### 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} ## Sigma Delta ADC {#sigma-delta-adc}
(<a href="#citeproc_bib_item_6">Pisani 2018</a>) (<a href="#citeproc_bib_item_7">Pisani 2018</a>)
From (<a href="#citeproc_bib_item_7">Schmidt, Schitter, and Rankers 2020</a>): From (<a href="#citeproc_bib_item_8">Schmidt, Schitter, and Rankers 2020</a>):
> 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. > 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. > 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} ## Anti-Aliasing Filters {#anti-aliasing-filters}
(<a href="#citeproc_bib_item_5">Microchip 1999</a>) (<a href="#citeproc_bib_item_6">Microchip 1999</a>)
## State of the art ADC {#state-of-the-art-adc} ## 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
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body"> <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Baker, Bonnie. 2011. “How Delta-Sigma Adcs Work, Part.” <i>Analog Applications</i> 7.</div> <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Baker, Bonnie. 2011. “How Delta-Sigma Adcs Work, Part.” <i>Analog Applications</i> 7.</div>
<div class="csl-entry"><a id="citeproc_bib_item_2"></a>Beev, Nikolai. 2018. “Analog-to-Digital Conversion beyond 20 Bits.” In <i>2018 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)</i>. doi:<a href="https://doi.org/10.1109/i2mtc.2018.8409543">10.1109/i2mtc.2018.8409543</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Beev, Nikolai. 2018. “Analog-to-Digital Conversion beyond 20 Bits.” In <i>2018 IEEE International Instrumentation and Measurement Technology Conference (I2MTC)</i>. doi:<a href="https://doi.org/10.1109/i2mtc.2018.8409543">10.1109/i2mtc.2018.8409543</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_3"></a>Kester, Walt. 2005. “Taking the Mystery out of the Infamous Formula, $snr = 6.02 N + 1.76 Db$, and Why You Should Care.”</div> <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Hauser, M. W. 1991. “Principles of Oversampling A/D Conversion.” <i>Journal of Audio Engineering Society</i>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_4"></a>Lab, Silicon. 2013. “Improving the ADC Resolution by Oversampling and Averaging.” Silicon Laboratories.</div> <div class="csl-entry"><a id="citeproc_bib_item_4"></a>Kester, Walt. 2005. “Taking the Mystery out of the Infamous Formula, $snr = 6.02 N + 1.76 Db$, and Why You Should Care.”</div>
<div class="csl-entry"><a id="citeproc_bib_item_5"></a>Microchip. 1999. “Anti-Aliasing, Analog Filters for Data Acquisition Systems.”</div> <div class="csl-entry"><a id="citeproc_bib_item_5"></a>Lab, Silicon. 2013. “Improving the ADC Resolution by Oversampling and Averaging.” Silicon Laboratories.</div>
<div class="csl-entry"><a id="citeproc_bib_item_6"></a>Pisani, Brian. 2018. “Accounting for Delay from Multiple Sources in Delta-Sigma ADCs.”</div> <div class="csl-entry"><a id="citeproc_bib_item_6"></a>Microchip. 1999. “Anti-Aliasing, Analog Filters for Data Acquisition Systems.”</div>
<div class="csl-entry"><a id="citeproc_bib_item_7"></a>Schmidt, R. M., G. Schitter, and A. Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div> <div class="csl-entry"><a id="citeproc_bib_item_7"></a>Pisani, Brian. 2018. “Accounting for Delay from Multiple Sources in Delta-Sigma ADCs.”</div>
<div class="csl-entry">NO_ITEM_DATA:hauser91_princ_overs_conver</div> <div class="csl-entry"><a id="citeproc_bib_item_8"></a>Schmidt, R. M., G. Schitter, and A. Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div>
</div> </div>
content/zettels/finite_element_model.md
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@@ -15,7 +15,6 @@ Some resources:
- (<a href="#citeproc_bib_item_1">Hatch 2000</a>) ([Notes]({{< relref "hatch00_vibrat_matlab_ansys.md" >}})) - (<a href="#citeproc_bib_item_1">Hatch 2000</a>) ([Notes]({{< relref "hatch00_vibrat_matlab_ansys.md" >}}))
- (<a href="#citeproc_bib_item_2">Khot and Yelve 2011</a>) - (<a href="#citeproc_bib_item_2">Khot and Yelve 2011</a>)
- (NO_ITEM_DATA:kosarac15_creat_siso_ansys)
The idea is to extract reduced state space model from Ansys into Matlab. 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.
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body"> <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Hatch, M. R. 2000. <i>Vibration Simulation Using MATLAB and ANSYS</i>. CRC Press.</div> <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Hatch, M. R. 2000. <i>Vibration Simulation Using MATLAB and ANSYS</i>. CRC Press.</div>
<div class="csl-entry"><a id="citeproc_bib_item_2"></a>Khot, SM, and Nitesh P Yelve. 2011. “Modeling and Response Analysis of Dynamic Systems by Using Ansys and Matlab.” <i>Journal of Vibration and Control</i> 17 (6). SAGE Publications Sage UK: London, England: 953–58.</div> <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Khot, SM, and Nitesh P Yelve. 2011. “Modeling and Response Analysis of Dynamic Systems by Using Ansys and Matlab.” <i>Journal of Vibration and Control</i> 17 (6). SAGE Publications Sage UK: London, England: 953–58.</div>
<div class="csl-entry">NO_ITEM_DATA:kosarac15_creat_siso_ansys</div>
</div> </div>
content/zettels/norms.md
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Resources: Resources:
- (NO_ITEM_DATA:skogestad05_multiv_feedb_contr) - (<a href="#citeproc_bib_item_2">Skogestad and Postlethwaite 2007</a>)
- (<a href="#citeproc_bib_item_2">Toivonen 2002</a>) - (<a href="#citeproc_bib_item_3">Toivonen 2002</a>)
- (<a href="#citeproc_bib_item_3">Zhang 2011</a>) - (<a href="#citeproc_bib_item_4">Zhang 2011</a>)
## Definition {#definition} ## Definition {#definition}
@@ -181,7 +181,7 @@ As explained in (<a href="#citeproc_bib_item_1">Monkhorst 2004</a>), the \\(\mat
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body"> <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Monkhorst, W. 2004. “Dynamic Error Budgeting, a Design Approach.” Delft University.</div> <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Monkhorst, W. 2004. “Dynamic Error Budgeting, a Design Approach.” Delft University.</div>
<div class="csl-entry"><a id="citeproc_bib_item_2"></a>Toivonen, Hannu T. 2002. “Robust Control Methods.” Abo Akademi University.</div> <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Skogestad, S., and I. Postlethwaite. 2007. <i>Multivariable Feedback Control: Analysis and Design - Second Edition</i>. John Wiley.</div>
<div class="csl-entry"><a id="citeproc_bib_item_3"></a>Zhang, Weidong. 2011. <i>Quantitative Process Control Theory</i>. CRC Press.</div> <div class="csl-entry"><a id="citeproc_bib_item_3"></a>Toivonen, Hannu T. 2002. “Robust Control Methods.” Abo Akademi University.</div>
<div class="csl-entry">NO_ITEM_DATA:skogestad05_multiv_feedb_contr</div> <div class="csl-entry"><a id="citeproc_bib_item_4"></a>Zhang, Weidong. 2011. <i>Quantitative Process Control Theory</i>. CRC Press.</div>
</div> </div>
content/zettels/relative_gain_array.md
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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}
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
</div>
content/zettels/stewart_platforms.md
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| University | Figure | Configuration | Joints | Actuators | Sensors | Application | Link to bibliography | | 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) | | (<a href="#citeproc_bib_item_60">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_59">Rahman, Spanos, and Laskin 1998</a>) Vibration Isolation (Space) | | JPL | [Figure 5](#figure--fig:stewart-jpl) | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) | | (<a href="#citeproc_bib_item_63">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_62">Rahman, Spanos, and Laskin 1998</a>) Vibration Isolation (Space) |
| Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (<a href="#citeproc_bib_item_65">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>), (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>) | | Washinton, JPL | [Figure 16](#figure--fig:stewart-ht-uw) | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>), (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (<a href="#citeproc_bib_item_44">McInroy 1999</a>), (<a href="#citeproc_bib_item_47">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_46">McInroy and Hamann 2000</a>), (<a href="#citeproc_bib_item_43">Li, Hamann, and McInroy 2001</a>), (<a href="#citeproc_bib_item_34">Jafari and McInroy 2003</a>) | | Wyoming | [Figure 17](#figure--fig:stewart-uw-gsp) | Cubic (CoM=CoK) | Flexible | Voice Coil | Force | | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>), (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>), (<a href="#citeproc_bib_item_35">Jafari and McInroy 2003</a>) |
| Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>), (<a href="#citeproc_bib_item_57">Preumont et al. 2007</a>) | | Brussels | [Figure 21](#figure--fig:stewart-ulb-vc) | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>), (<a href="#citeproc_bib_item_60">Preumont et al. 2007</a>) |
| SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (<a href="#citeproc_bib_item_64">Taranti, Agrawal, and Cristi 2001</a>) | | SRDC | [Figure 2](#figure--fig:stewart-naval) | Not Cubic | Ball joints | Voice Coil (10 mm) | | | (<a href="#citeproc_bib_item_67">Taranti, Agrawal, and Cristi 2001</a>) |
| SRDC | [Figure 18](#figure--fig:stewart-pph) | Non-Cubic | Flexible | Voice Coil | Accelerometers, External metrology: Eddy Current + optical | Pointing | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>) | | SRDC | [Figure 18](#figure--fig:stewart-pph) | Non-Cubic | Flexible | Voice Coil | Accelerometers, External metrology: Eddy Current + optical | Pointing | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>) |
| Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (<a href="#citeproc_bib_item_16">Chi et al. 2015</a>), (<a href="#citeproc_bib_item_63">Tang, Cao, and Yu 2018</a>), (<a href="#citeproc_bib_item_37">Jiao et al. 2018</a>) | | Harbin (China) | [Figure 13](#figure--fig:stewart-tang18) | Cubic | Flexible | Voice Coil | Accelerometer in each leg | | (<a href="#citeproc_bib_item_16">Chi et al. 2015</a>), (<a href="#citeproc_bib_item_66">Tang, Cao, and Yu 2018</a>), (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
| Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>), (<a href="#citeproc_bib_item_70">Tjepkema 2012</a>) | | Einhoven | [Figure 9](#figure--fig:stewart-beijen) | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>), (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>) |
| JPL | [Figure 4](#figure--fig:stewart-geng) | Cubic (6-UPU) | Flexible | Magnetostrictive | Force (collocated), Accelerometers | Vibration Isolation | (<a href="#citeproc_bib_item_26">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_27">Geng and Haynes 1994</a>), (<a href="#citeproc_bib_item_28">Geng et al. 1995</a>) | | JPL | [Figure 4](#figure--fig:stewart-geng) | Cubic (6-UPU) | Flexible | Magnetostrictive | Force (collocated), Accelerometers | Vibration Isolation | (<a href="#citeproc_bib_item_27">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_28">Geng and Haynes 1994</a>), (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>) |
| China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (<a href="#citeproc_bib_item_80">Zhang et al. 2011</a>) | | China | [Figure 10](#figure--fig:stewart-zhang11) | Non-cubic | Flexible | Magnetostrictive | Inertial | | (<a href="#citeproc_bib_item_83">Zhang et al. 2011</a>) |
| Brussels | [Figure 20](#figure--fig:stewart-ulb-pz) | Cubic | Flexible | Piezoelectric, Amplified | Piezo Force | Active Damping | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>) | | Brussels | [Figure 20](#figure--fig:stewart-ulb-pz) | Cubic | Flexible | Piezoelectric, Amplified | Piezo Force | Active Damping | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>) |
| SRDC | [Figure 19](#figure--fig:stewart-uqp) | Cubic | | Piezoelectric (50 um) | Geophone | Vibration | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>) | | SRDC | [Figure 19](#figure--fig:stewart-uqp) | Cubic | | Piezoelectric (50 um) | Geophone | Vibration | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>) |
| Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (<a href="#citeproc_bib_item_69">Ting, Jar, and Li 2006</a>), (<a href="#citeproc_bib_item_68">Ting, Li, and Nguyen 2013</a>) | | Taiwan | [Figure 14](#figure--fig:stewart-nanoscale) | Cubic | Flexible | Piezoelectric (120 um) | External capacitive | | (<a href="#citeproc_bib_item_72">Ting, Jar, and Li 2006</a>), (<a href="#citeproc_bib_item_71">Ting, Li, and Nguyen 2013</a>) |
| Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (<a href="#citeproc_bib_item_67">Ting, Jar, and Li 2007</a>) | | Taiwan | [Figure 15](#figure--fig:stewart-ting07) | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) | | (<a href="#citeproc_bib_item_70">Ting, Jar, and Li 2007</a>) |
| Harbin (China) | [Figure 12](#figure--fig:stewart-du14) | 6-SPS (Optimized) | Flexible | Piezoelectric | Strain Gauge | | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>) | | Harbin (China) | [Figure 12](#figure--fig:stewart-du14) | 6-SPS (Optimized) | Flexible | Piezoelectric | Strain Gauge | | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>) |
| Japan | [Figure 6](#figure--fig:stewart-furutani) | Non-Cubic | Flexible | Piezoelectric (16 um) | Eddy Current Displacement Sensors | Cutting machine | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>) | | Japan | [Figure 6](#figure--fig:stewart-furutani) | Non-Cubic | Flexible | Piezoelectric (16 um) | Eddy Current Displacement Sensors | Cutting machine | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>) |
| China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (<a href="#citeproc_bib_item_78">Yang et al. 2019</a>) | | China | [Figure 11](#figure--fig:stewart-yang19) | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position | | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
| Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (<a href="#citeproc_bib_item_74">Wang et al. 2016</a>) | | Shangai | [Figure 8](#figure--fig:stewart-wang16) | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer | | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
| Matra (France) | [Figure 3](#figure--fig:stewart-mais) | Cubic | Flexible | Piezoelectric (25 um) | Piezo force sensors | Vibration control | (<a href="#citeproc_bib_item_19">Defendini et al. 2000</a>) | | Matra (France) | [Figure 3](#figure--fig:stewart-mais) | Cubic | Flexible | Piezoelectric (25 um) | Piezo force sensors | Vibration control | (<a href="#citeproc_bib_item_19">Defendini et al. 2000</a>) |
| Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (<a href="#citeproc_bib_item_72">Torii et al. 2012</a>) | | Japan | [Figure 7](#figure--fig:stewart-torii) | Non-Cubic | Flexible | Inchworm | | | (<a href="#citeproc_bib_item_75">Torii et al. 2012</a>) |
| Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (NO_ITEM_DATA:naves20_desig; <a href="#citeproc_bib_item_52">Naves et al. 2020</a>) | | Netherlands | [Figure 1](#figure--fig:stewart-naves) | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders | | (<a href="#citeproc_bib_item_54">Naves 2021</a>; <a href="#citeproc_bib_item_55">Naves et al. 2020</a>) |
<a id="figure--fig:stewart-naves"></a> <a id="figure--fig:stewart-naves"></a>
{{< figure src="/ox-hugo/stewart_naves.jpg" caption="<span class='figure-number'>Figure 1: </span>T-flex <&naves20_desig>" >}} {{< figure src="/ox-hugo/stewart_naves.jpg" caption="<span class='figure-number'>Figure 1: </span>T-flex (<a href='#citeproc_bib_item_55'>Naves et al. 2020</a>)" >}}
<a id="figure--fig:stewart-naval"></a> <a id="figure--fig:stewart-naval"></a>
{{< figure src="/ox-hugo/stewart_naval.jpg" caption="<span class='figure-number'>Figure 2: </span><&taranti01_effic_algor_vibrat_suppr>" >}} {{< figure src="/ox-hugo/stewart_naval.jpg" caption="<span class='figure-number'>Figure 2: </span>(<a href='#citeproc_bib_item_67'>Taranti, Agrawal, and Cristi 2001</a>)" >}}
<a id="figure--fig:stewart-mais"></a> <a id="figure--fig:stewart-mais"></a>
{{< figure src="/ox-hugo/stewart_mais.jpg" caption="<span class='figure-number'>Figure 3: </span><&defendini00_techn>" >}} {{< figure src="/ox-hugo/stewart_mais.jpg" caption="<span class='figure-number'>Figure 3: </span>(<a href='#citeproc_bib_item_19'>Defendini et al. 2000</a>)" >}}
<a id="figure--fig:stewart-geng"></a> <a id="figure--fig:stewart-geng"></a>
{{< figure src="/ox-hugo/stewart_geng.jpg" caption="<span class='figure-number'>Figure 4: </span><&geng94_six_degree_of_freed_activ>" >}} {{< figure src="/ox-hugo/stewart_geng.jpg" caption="<span class='figure-number'>Figure 4: </span>(<a href='#citeproc_bib_item_28'>Geng and Haynes 1994</a>)" >}}
<a id="figure--fig:stewart-jpl"></a> <a id="figure--fig:stewart-jpl"></a>
{{< figure src="/ox-hugo/stewart_jpl.jpg" caption="<span class='figure-number'>Figure 5: </span><&spanos95_soft_activ_vibrat_isolat>" >}} {{< figure src="/ox-hugo/stewart_jpl.jpg" caption="<span class='figure-number'>Figure 5: </span>(<a href='#citeproc_bib_item_63'>Spanos, Rahman, and Blackwood 1995</a>)" >}}
<a id="figure--fig:stewart-furutani"></a> <a id="figure--fig:stewart-furutani"></a>
{{< figure src="/ox-hugo/stewart_furutani.jpg" caption="<span class='figure-number'>Figure 6: </span><&furutani04_nanom_cuttin_machin_using_stewar>" >}} {{< figure src="/ox-hugo/stewart_furutani.jpg" caption="<span class='figure-number'>Figure 6: </span>(<a href='#citeproc_bib_item_25'>Furutani, Suzuki, and Kudoh 2004</a>)" >}}
<a id="figure--fig:stewart-torii"></a> <a id="figure--fig:stewart-torii"></a>
{{< figure src="/ox-hugo/stewart_torii.jpg" caption="<span class='figure-number'>Figure 7: </span><&torii12_small_size_self_propel_stewar_platf>" >}} {{< figure src="/ox-hugo/stewart_torii.jpg" caption="<span class='figure-number'>Figure 7: </span>(<a href='#citeproc_bib_item_75'>Torii et al. 2012</a>)" >}}
<a id="figure--fig:stewart-wang16"></a> <a id="figure--fig:stewart-wang16"></a>
{{< figure src="/ox-hugo/stewart_wang16.jpg" caption="<span class='figure-number'>Figure 8: </span><&wang16_inves_activ_vibrat_isolat_stewar>" >}} {{< figure src="/ox-hugo/stewart_wang16.jpg" caption="<span class='figure-number'>Figure 8: </span>(<a href='#citeproc_bib_item_77'>Wang et al. 2016</a>)" >}}
<a id="figure--fig:stewart-beijen"></a> <a id="figure--fig:stewart-beijen"></a>
{{< figure src="/ox-hugo/stewart_beijen.jpg" caption="<span class='figure-number'>Figure 9: </span><&beijen18_self_tunin_mimo_distur_feedf>" >}} {{< figure src="/ox-hugo/stewart_beijen.jpg" caption="<span class='figure-number'>Figure 9: </span>(<a href='#citeproc_bib_item_7'>Beijen et al. 2018</a>)" >}}
<a id="figure--fig:stewart-zhang11"></a> <a id="figure--fig:stewart-zhang11"></a>
{{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="<span class='figure-number'>Figure 10: </span><&zhang11_six_dof>" >}} {{< figure src="/ox-hugo/stewart_zhang11.jpg" caption="<span class='figure-number'>Figure 10: </span>(<a href='#citeproc_bib_item_83'>Zhang et al. 2011</a>)" >}}
<a id="figure--fig:stewart-yang19"></a> <a id="figure--fig:stewart-yang19"></a>
{{< figure src="/ox-hugo/stewart_yang19.jpg" caption="<span class='figure-number'>Figure 11: </span><&yang19_dynam_model_decoup_contr_flexib>" >}} {{< figure src="/ox-hugo/stewart_yang19.jpg" caption="<span class='figure-number'>Figure 11: </span>(<a href='#citeproc_bib_item_81'>Yang et al. 2019</a>)" >}}
<a id="figure--fig:stewart-du14"></a> <a id="figure--fig:stewart-du14"></a>
{{< figure src="/ox-hugo/stewart_du14.jpg" caption="<span class='figure-number'>Figure 12: </span><&du14_piezo_actuat_high_precis_flexib>" >}} {{< figure src="/ox-hugo/stewart_du14.jpg" caption="<span class='figure-number'>Figure 12: </span>(<a href='#citeproc_bib_item_23'>Du, Shi, and Dong 2014</a>)" >}}
<a id="figure--fig:stewart-tang18"></a> <a id="figure--fig:stewart-tang18"></a>
{{< figure src="/ox-hugo/stewart_tang18.jpg" caption="<span class='figure-number'>Figure 13: </span><&tang18_decen_vibrat_contr_voice_coil>" >}} {{< figure src="/ox-hugo/stewart_tang18.jpg" caption="<span class='figure-number'>Figure 13: </span>(<a href='#citeproc_bib_item_66'>Tang, Cao, and Yu 2018</a>)" >}}
<a id="figure--fig:stewart-nanoscale"></a> <a id="figure--fig:stewart-nanoscale"></a>
{{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="<span class='figure-number'>Figure 14: </span><&ting06_desig_stewar_nanos_platf>" >}} {{< figure src="/ox-hugo/stewart_nanoscale.jpg" caption="<span class='figure-number'>Figure 14: </span>(<a href='#citeproc_bib_item_72'>Ting, Jar, and Li 2006</a>)" >}}
<a id="figure--fig:stewart-ting07"></a> <a id="figure--fig:stewart-ting07"></a>
{{< figure src="/ox-hugo/stewart_ting07.jpg" caption="<span class='figure-number'>Figure 15: </span><&ting07_measur_calib_stewar_microm_system>" >}} {{< figure src="/ox-hugo/stewart_ting07.jpg" caption="<span class='figure-number'>Figure 15: </span>(<a href='#citeproc_bib_item_70'>Ting, Jar, and Li 2007</a>)" >}}
<a id="figure--fig:stewart-ht-uw"></a> <a id="figure--fig:stewart-ht-uw"></a>
{{< figure src="/ox-hugo/stewart_ht_uw.jpg" caption="<span class='figure-number'>Figure 16: </span>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="<span class='figure-number'>Figure 16: </span>Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions (<a href='#citeproc_bib_item_69'>Thayer et al. 2002</a>)" >}}
<a id="figure--fig:stewart-uw-gsp"></a> <a id="figure--fig:stewart-uw-gsp"></a>
{{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="<span class='figure-number'>Figure 17: </span>UW GSP: Mutually Orthogonal Stewart Geometry <&li01_simul_fault_vibrat_isolat_point>" >}} {{< figure src="/ox-hugo/stewart_uw_gsp.jpg" caption="<span class='figure-number'>Figure 17: </span>UW GSP: Mutually Orthogonal Stewart Geometry (<a href='#citeproc_bib_item_44'>Li 2001</a>)" >}}
<a id="figure--fig:stewart-pph"></a> <a id="figure--fig:stewart-pph"></a>
{{< figure src="/ox-hugo/stewart_pph.jpg" caption="<span class='figure-number'>Figure 18: </span>Precision Pointing Hexapod (PPH) <&chen03_payload_point_activ_vibrat_isolat>" >}} {{< figure src="/ox-hugo/stewart_pph.jpg" caption="<span class='figure-number'>Figure 18: </span>Precision Pointing Hexapod (PPH) (<a href='#citeproc_bib_item_15'>Chen, Bishop, and Agrawal 2003</a>)" >}}
<a id="figure--fig:stewart-uqp"></a> <a id="figure--fig:stewart-uqp"></a>
{{< figure src="/ox-hugo/stewart_uqp.jpg" caption="<span class='figure-number'>Figure 19: </span>Ultra Quiet Platform (UQP) <&agrawal04_algor_activ_vibrat_isolat_spacec>" >}} {{< figure src="/ox-hugo/stewart_uqp.jpg" caption="<span class='figure-number'>Figure 19: </span>Ultra Quiet Platform (UQP) (<a href='#citeproc_bib_item_5'>Agrawal and Chen 2004</a>)" >}}
<a id="figure--fig:stewart-ulb-pz"></a> <a id="figure--fig:stewart-ulb-pz"></a>
{{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="<span class='figure-number'>Figure 20: </span>ULB - Piezoelectric <&abu02_stiff_soft_stewar_platf_activ>" >}} {{< figure src="/ox-hugo/stewart_ulb_pz.jpg" caption="<span class='figure-number'>Figure 20: </span>ULB - Piezoelectric (<a href='#citeproc_bib_item_3'>Abu Hanieh, Horodinca, and Preumont 2002</a>)" >}}
<a id="figure--fig:stewart-ulb-vc"></a> <a id="figure--fig:stewart-ulb-vc"></a>
{{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="<span class='figure-number'>Figure 21: </span>ULB - Voice Coil <&hanieh03_activ_stewar>" >}} {{< figure src="/ox-hugo/stewart_ulb_vc.jpg" caption="<span class='figure-number'>Figure 21: </span>ULB - Voice Coil (<a href='#citeproc_bib_item_2'>Abu Hanieh 2003</a>)" >}}
### Long Stroke {#long-stroke} ### Long Stroke {#long-stroke}
@@ -178,25 +178,25 @@ Tags
| University | Figure | Configuration | Joints | Actuators | Sensors | Link to bibliography | | 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 | (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>) | | Japan | [Figure 22](#figure--fig:stewart-cleary) | 6-UPS | Conventional | DC, gear + rack pinion | Encoder, 7um res | (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>) |
| Seoul | [Figure 23](#figure--fig:stewart-kim00) | Non-Cubic | Conventional | Hydraulic | LVDT | (<a href="#citeproc_bib_item_38">Kim, Kang, and Lee 2000</a>) | | Seoul | [Figure 23](#figure--fig:stewart-kim00) | Non-Cubic | Conventional | Hydraulic | LVDT | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) |
| Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (<a href="#citeproc_bib_item_61">Su et al. 2004</a>) | | Xidian (China) | [Figure 24](#figure--fig:stewart-su04) | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | (<a href="#citeproc_bib_item_64">Su et al. 2004</a>) |
| Czech | [Figure 25](#figure--fig:stewart-czech) | 6-UPS | Conventional | DC, Ball Screw | Absolute Linear position | (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_32">Houška, Březina, and Březina 2010</a>), (<a href="#citeproc_bib_item_12">Březina and Březina 2010</a>) | | Czech | [Figure 25](#figure--fig:stewart-czech) | 6-UPS | Conventional | DC, Ball Screw | Absolute Linear position | (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_33">Houška, Březina, and Březina 2010</a>), (<a href="#citeproc_bib_item_12">Březina and Březina 2010</a>) |
<a id="figure--fig:stewart-cleary"></a> <a id="figure--fig:stewart-cleary"></a>
{{< figure src="/ox-hugo/stewart_cleary.jpg" caption="<span class='figure-number'>Figure 22: </span><&cleary91_protot_paral_manip>" >}} {{< figure src="/ox-hugo/stewart_cleary.jpg" caption="<span class='figure-number'>Figure 22: </span>(<a href='#citeproc_bib_item_17'>Cleary and Arai 1991</a>)" >}}
<a id="figure--fig:stewart-kim00"></a> <a id="figure--fig:stewart-kim00"></a>
{{< figure src="/ox-hugo/stewart_kim00.jpg" caption="<span class='figure-number'>Figure 23: </span><&kim01_six>" >}} {{< figure src="/ox-hugo/stewart_kim00.jpg" caption="<span class='figure-number'>Figure 23: </span>(<a href='#citeproc_bib_item_41'>Kim 2001</a>)" >}}
<a id="figure--fig:stewart-su04"></a> <a id="figure--fig:stewart-su04"></a>
{{< figure src="/ox-hugo/stewart_su04.jpg" caption="<span class='figure-number'>Figure 24: </span><&su04_distur_rejec_high_precis_motion>" >}} {{< figure src="/ox-hugo/stewart_su04.jpg" caption="<span class='figure-number'>Figure 24: </span>(<a href='#citeproc_bib_item_64'>Su et al. 2004</a>)" >}}
<a id="figure--fig:stewart-czech"></a> <a id="figure--fig:stewart-czech"></a>
{{< figure src="/ox-hugo/stewart_czech.jpg" caption="<span class='figure-number'>Figure 25: </span>Stewart platform from Brno University (Czech) <&brezina08_ni_labview_matlab_simmec_stewar_platf_desig>" >}} {{< figure src="/ox-hugo/stewart_czech.jpg" caption="<span class='figure-number'>Figure 25: </span>Stewart platform from Brno University (Czech) (<a href='#citeproc_bib_item_11'>Březina, Andrš, and Březina 2008</a>)" >}}
## Articles - Design Related {#articles-design-related} ## Articles - Design Related {#articles-design-related}
@@ -214,13 +214,13 @@ Tags
<span class="org-target" id="org-target--sec-design-flexure"></span> <span class="org-target" id="org-target--sec-design-flexure"></span>
From (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>): From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
> Elastomer flexures, rather than steel, reduce lateral stiffness and improve passive performance at payload resonance (damping) and at frequencies greater than 100 Hz. > 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 | | Main Object | Link to bibliography |
|--------------------|----------------------------------------------------| |--------------------|----------------------------------------------------|
| Effect of flexures | (<a href="#citeproc_bib_item_45">McInroy 2002</a>) | | Effect of flexures | (<a href="#citeproc_bib_item_47">McInroy 2002</a>) |
### Decoupling {#decoupling} ### Decoupling {#decoupling}
@@ -229,7 +229,7 @@ From (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>):
| Main Object | Link to bibliography | | Main Object | Link to bibliography |
|------------------------------------|---------------------------------------------------------------| |------------------------------------|---------------------------------------------------------------|
| Geometry for decoupling (CoM, CoK) | (<a href="#citeproc_bib_item_46">McInroy and Hamann 2000</a>) | | Geometry for decoupling (CoM, CoK) | (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| | (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>) | | | (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>) |
@@ -240,14 +240,14 @@ From (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>):
| Figure | Link to bibliography | | Figure | Link to bibliography |
|------------------------------------------|----------------------------------------------------------------------------------------------------------------------------| |------------------------------------------|----------------------------------------------------------------------------------------------------------------------------|
| [Figure 26](#figure--fig:stewart-dong07) | (<a href="#citeproc_bib_item_21">Dong, Sun, and Du 2008</a>), (<a href="#citeproc_bib_item_22">Dong, Sun, and Du 2007</a>) | | [Figure 26](#figure--fig:stewart-dong07) | (<a href="#citeproc_bib_item_21">Dong, Sun, and Du 2008</a>), (<a href="#citeproc_bib_item_22">Dong, Sun, and Du 2007</a>) |
| | (<a href="#citeproc_bib_item_39">Kim and Cho 2009</a>) | | | (<a href="#citeproc_bib_item_40">Kim and Cho 2009</a>) |
| | (<a href="#citeproc_bib_item_79">Yun and Li 2010</a>) | | | (<a href="#citeproc_bib_item_82">Yun and Li 2010</a>) |
| | (NO_ITEM_DATA:gao02_necw_kinem_struc_paral_manip_desig) | | | (<a href="#citeproc_bib_item_26">Gao et al. 2002</a>) |
| | (<a href="#citeproc_bib_item_31">Horin and Shoham 2006</a>) | | | (<a href="#citeproc_bib_item_32">Horin and Shoham 2006</a>) |
<a id="figure--fig:stewart-dong07"></a> <a id="figure--fig:stewart-dong07"></a>
{{< figure src="/ox-hugo/stewart_dong07.jpg" caption="<span class='figure-number'>Figure 26: </span><&dong07_desig_precis_compl_paral_posit>" >}} {{< figure src="/ox-hugo/stewart_dong07.jpg" caption="<span class='figure-number'>Figure 26: </span>(<a href='#citeproc_bib_item_22'>Dong, Sun, and Du 2007</a>)" >}}
### Workspace {#workspace} ### Workspace {#workspace}
@@ -257,9 +257,9 @@ From (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>):
| Main Object | Link to bibliography | | Main Object | Link to bibliography |
|------------------------------------------------------|----------------------------------------------------------------| |------------------------------------------------------|----------------------------------------------------------------|
| Compute orientation | (<a href="#citeproc_bib_item_10">Bonev and Ryu 2001</a>) | | Compute orientation | (<a href="#citeproc_bib_item_10">Bonev and Ryu 2001</a>) |
| Reachable Workspace | (<a href="#citeproc_bib_item_55">Pernkopf and Husty 2006</a>) | | Reachable Workspace | (<a href="#citeproc_bib_item_58">Pernkopf and Husty 2006</a>) |
| Determination of the max. singularity free workspace | (<a href="#citeproc_bib_item_35">Jiang and Gosselin 2009a</a>) | | Determination of the max. singularity free workspace | (<a href="#citeproc_bib_item_36">Jiang and Gosselin 2009a</a>) |
| Orientation Workspace | (<a href="#citeproc_bib_item_36">Jiang and Gosselin 2009b</a>) | | Orientation Workspace | (<a href="#citeproc_bib_item_37">Jiang and Gosselin 2009b</a>) |
### Modelling {#modelling} ### Modelling {#modelling}
@@ -296,7 +296,7 @@ Several approaches can be used (Section ).
<span class="org-target" id="org-target--sec-control-isolation"></span> <span class="org-target" id="org-target--sec-control-isolation"></span>
From (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>): From (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>):
> In general, force sensors such as load cells, work well to measure vibration, but have difficulty with cross-axis dynamics. > 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. > 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 (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>):
| University | Actuators | Sensors | Control | Main Object | Link to bibliography | | 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 | (<a href="#citeproc_bib_item_28">Geng et al. 1995</a>) | | JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>) |
| JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (<a href="#citeproc_bib_item_60">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_59">Rahman, Spanos, and Laskin 1998</a>) | | JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | (<a href="#citeproc_bib_item_63">Spanos, Rahman, and Blackwood 1995</a>), (<a href="#citeproc_bib_item_62">Rahman, Spanos, and Laskin 1998</a>) |
| 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 | (<a href="#citeproc_bib_item_65">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>) | | 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 | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (<a href="#citeproc_bib_item_53">O’Brien et al. 1998</a>) | | Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | (<a href="#citeproc_bib_item_56">O’Brien et al. 1998</a>) |
| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_44">McInroy 1999</a>), (<a href="#citeproc_bib_item_47">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_46">McInroy and Hamann 2000</a>) | | Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| Brussels | APA | Piezo force sensor | Decentralized IFF | | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>) | | Brussels | APA | Piezo force sensor | Decentralized IFF | | (<a href="#citeproc_bib_item_3">Abu Hanieh, Horodinca, and Preumont 2002</a>) |
| Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (<a href="#citeproc_bib_item_57">Preumont et al. 2007</a>) | | Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | (<a href="#citeproc_bib_item_60">Preumont et al. 2007</a>) |
| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_74">Wang et al. 2016</a>) | | Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
| China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (<a href="#citeproc_bib_item_77">Yang et al. 2017</a>) | | China | | | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | (<a href="#citeproc_bib_item_80">Yang et al. 2017</a>) |
| Washinton | Voice Coil | Force | Decentralized IFF | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>) | | Washinton | Voice Coil | Force | Decentralized IFF | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| 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 | (<a href="#citeproc_bib_item_78">Yang et al. 2019</a>) | | 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 | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
#### Sky-Hood Damping {#sky-hood-damping} #### Sky-Hood Damping {#sky-hood-damping}
| University | Actuators | Sensors | Control | Main Object | Link to bibliography | | 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 | (<a href="#citeproc_bib_item_43">Li, Hamann, and McInroy 2001</a>) | | Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_58">Pu et al. 2011</a>) | | China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
| China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>) | | China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>) |
| Einhoven | Voice Coil | 6dof Accelerometers on mobile and fixed platforms | Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping) | | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>) | | Einhoven | Voice Coil | 6dof Accelerometers on mobile and fixed platforms | Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping) | | (<a href="#citeproc_bib_item_7">Beijen et al. 2018</a>) |
| Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (<a href="#citeproc_bib_item_63">Tang, Cao, and Yu 2018</a>) | | Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | (<a href="#citeproc_bib_item_66">Tang, Cao, and Yu 2018</a>) |
| Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>) | | Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Washinton | Voice Coil | Geophones | Decentralized Sky Hood Damping | Comparison of force sensor and inertial sensors | (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>) | | Washinton | Voice Coil | Geophones | Decentralized Sky Hood Damping | Comparison of force sensor and inertial sensors | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | Model + active damping with flexible hinges | (<a href="#citeproc_bib_item_37">Jiao et al. 2018</a>) | | Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | Model + active damping with flexible hinges | (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
#### Vibration Control of Narrowband Disturbances {#vibration-control-of-narrowband-disturbances} #### Vibration Control of Narrowband Disturbances {#vibration-control-of-narrowband-disturbances}
| University | Actuators | Sensors | Control | Main Object | Link to bibliography | | University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|------------|------------------|------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------|------------------------------------------------------------------------------------------------------------------------| |------------|------------------|------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------|------------------------------------------------------------------------------------------------------------------------|
| JPL | Magnetostrictive | Force, Accelerometers | Robust Adaptive Filter | Hardware implementation | (<a href="#citeproc_bib_item_26">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_27">Geng and Haynes 1994</a>) | | JPL | Magnetostrictive | Force, Accelerometers | Robust Adaptive Filter | Hardware implementation | (<a href="#citeproc_bib_item_27">Geng and Haynes 1993</a>), (<a href="#citeproc_bib_item_28">Geng and Haynes 1994</a>) |
| SRDC | | | LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID | Rejection of narrowband periodic disturbances | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>) | | SRDC | | | LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID | Rejection of narrowband periodic disturbances | (<a href="#citeproc_bib_item_15">Chen, Bishop, and Agrawal 2003</a>) |
| Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (<a href="#citeproc_bib_item_41">Lin and McInroy 2003</a>) | | Wyoming | Voice Coil | | Adaptive sinusoidal disturbance (Phase Lock Loop) | | (<a href="#citeproc_bib_item_43">Lin and McInroy 2003</a>) |
| SRDC | Piezo | Geophone (collocated) | "multiple error LMS" (require measured disturbance) vs "clear box" | | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>) | | SRDC | Piezo | Geophone (collocated) | "multiple error LMS" (require measured disturbance) vs "clear box" | | (<a href="#citeproc_bib_item_5">Agrawal and Chen 2004</a>) |
| China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (<a href="#citeproc_bib_item_80">Zhang et al. 2011</a>) | | China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | (<a href="#citeproc_bib_item_83">Zhang et al. 2011</a>) |
| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_74">Wang et al. 2016</a>) | | Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
### Position Control {#position-control} ### Position Control {#position-control}
@@ -363,17 +363,17 @@ Control Strategy:
| University | Actuators | Sensors | Control | Modelling | Main Object | Link to bibliography | | 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 =&gt; State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_65">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>) | | Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM =&gt; State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_44">McInroy 1999</a>), (<a href="#citeproc_bib_item_47">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_46">McInroy and Hamann 2000</a>) | | Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | | (<a href="#citeproc_bib_item_38">Kim, Kang, and Lee 2000</a>) | | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) |
| 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 | (<a href="#citeproc_bib_item_43">Li, Hamann, and McInroy 2001</a>) | | 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 | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| Japan | APA | Eddy current displacement | Decentralized (struts) PI + LPF control | | | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>) | | Japan | APA | Eddy current displacement | Decentralized (struts) PI + LPF control | | | (<a href="#citeproc_bib_item_25">Furutani, Suzuki, and Kudoh 2004</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (<a href="#citeproc_bib_item_58">Pu et al. 2011</a>) | | China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
| Harbin (China) | PZT Piezo | Strain Gauge | Decentralized position feedback | | Workspace, Stiffness analyzed | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>) | | Harbin (China) | PZT Piezo | Strain Gauge | Decentralized position feedback | | Workspace, Stiffness analyzed | (<a href="#citeproc_bib_item_23">Du, Shi, and Dong 2014</a>) |
| China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (<a href="#citeproc_bib_item_50">Min, Huang, and Su 2019</a>) | | China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | (<a href="#citeproc_bib_item_52">Min, Huang, and Su 2019</a>) |
| 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 | (<a href="#citeproc_bib_item_78">Yang et al. 2019</a>) | | 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 | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
From: (<a href="#citeproc_bib_item_78">Yang et al. 2019</a>): From: (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>):
> 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. > 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. > 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 (<a href
| University | Actuators | Sensors | Control | Main Object | Link to bibliography | | University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|-------------|------------|--------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------| |-------------|------------|--------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------|
| 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 | (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>) | | 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 | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
| Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_70">Tjepkema 2012</a>) | | Netherlands | Voice Coil | | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>) |
#### HAC-LAC {#hac-lac} #### HAC-LAC {#hac-lac}
| University | Actuators | Sensors | Control | Main Object | Link to bibliography | | 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 | (<a href="#citeproc_bib_item_28">Geng et al. 1995</a>) | | JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | (<a href="#citeproc_bib_item_29">Geng et al. 1995</a>) |
| Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_74">Wang et al. 2016</a>) | | Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | (<a href="#citeproc_bib_item_77">Wang et al. 2016</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_43">Li, Hamann, and McInroy 2001</a>) | | Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_58">Pu et al. 2011</a>) | | China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (<a href="#citeproc_bib_item_75">Xie, Wang, and Zhang 2017</a>) | | China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | | (<a href="#citeproc_bib_item_78">Xie, Wang, and Zhang 2017</a>) |
#### Sensor Fusion {#sensor-fusion} #### Sensor Fusion {#sensor-fusion}
| University | Actuators | Sensors | Control | Main Object | Link to bibliography | | University | Actuators | Sensors | Control | Main Object | Link to bibliography |
|-------------|------------|------------------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------| |-------------|------------|------------------------------|-----------------------------------|------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------|
| Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_70">Tjepkema 2012</a>), (<a href="#citeproc_bib_item_71">Tjepkema, van Dijk, and Soemers 2012</a>) | | Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control | | (<a href="#citeproc_bib_item_73">Tjepkema 2012</a>), (<a href="#citeproc_bib_item_74">Tjepkema, van Dijk, and Soemers 2012</a>) |
| 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 | (<a href="#citeproc_bib_item_30">Hauge and Campbell 2004</a>) | | 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 | (<a href="#citeproc_bib_item_31">Hauge and Campbell 2004</a>) |
#### Other Strategies {#other-strategies} #### Other Strategies {#other-strategies}
| University | Actuators | Sensors | Control | Main Object | Link to bibliography | | 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 | (<a href="#citeproc_bib_item_78">Yang et al. 2019</a>) | | 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 | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
| 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 | (<a href="#citeproc_bib_item_65">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>) | | 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 | (<a href="#citeproc_bib_item_68">Thayer and Vagners 1998</a>), (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>) |
| Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_44">McInroy 1999</a>), (<a href="#citeproc_bib_item_47">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_46">McInroy and Hamann 2000</a>) | | Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
### Decoupling Strategies {#decoupling-strategies} ### Decoupling Strategies {#decoupling-strategies}
@@ -437,7 +437,7 @@ Different strategies:
- Modal decoupling - Modal decoupling
- SVD decoupling - SVD decoupling
Identify Jacobian for better decoupling: (<a href="#citeproc_bib_item_14">Cheng, Ren, and Dai 2004</a>), (<a href="#citeproc_bib_item_29">Gexue et al. 2004</a>). Identify Jacobian for better decoupling: (<a href="#citeproc_bib_item_14">Cheng, Ren, and Dai 2004</a>), (<a href="#citeproc_bib_item_30">Gexue et al. 2004</a>).
<span class="org-target" id="org-target--sec-control-decoupling"></span> <span class="org-target" id="org-target--sec-control-decoupling"></span>
@@ -451,31 +451,31 @@ Identify Jacobian for better decoupling: (<a href="#citeproc_bib_item_14">Cheng,
#### Jacobian - Cartesian {#jacobian-cartesian} #### Jacobian - Cartesian {#jacobian-cartesian}
| Wyoming | Voice Coil | Force | Cartesian frame decoupling | (<a href="#citeproc_bib_item_53">O’Brien et al. 1998</a>) | | Wyoming | Voice Coil | Force | Cartesian frame decoupling | (<a href="#citeproc_bib_item_56">O’Brien et al. 1998</a>) |
|---------|------------|------------------------------------------------|---------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------| |---------|------------|------------------------------------------------|---------------------------------------------------------------------------------------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (<a href="#citeproc_bib_item_44">McInroy 1999</a>), (<a href="#citeproc_bib_item_47">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_46">McInroy and Hamann 2000</a>) | | Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | (<a href="#citeproc_bib_item_46">McInroy 1999</a>), (<a href="#citeproc_bib_item_49">McInroy, O’Brien, and Neat 1999</a>), (<a href="#citeproc_bib_item_48">McInroy and Hamann 2000</a>) |
| Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | (<a href="#citeproc_bib_item_38">Kim, Kang, and Lee 2000</a>) | | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) |
| Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (<a href="#citeproc_bib_item_43">Li, Hamann, and McInroy 2001</a>) | | Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | (<a href="#citeproc_bib_item_45">Li, Hamann, and McInroy 2001</a>) |
| China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>) | | China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | (<a href="#citeproc_bib_item_1">Abbas and Hai 2014</a>) |
#### Modal Decoupling {#modal-decoupling} #### Modal Decoupling {#modal-decoupling}
| China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (<a href="#citeproc_bib_item_58">Pu et al. 2011</a>) | | China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | (<a href="#citeproc_bib_item_61">Pu et al. 2011</a>) |
|-------|---------------|----------------------------------------------|--------------------------------------------------------------------|--------------------------------------------------------| |-------|---------------|----------------------------------------------|--------------------------------------------------------------------|--------------------------------------------------------|
| China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (<a href="#citeproc_bib_item_78">Yang et al. 2019</a>) | | China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | (<a href="#citeproc_bib_item_81">Yang et al. 2019</a>) |
#### Multivariable Control {#multivariable-control} #### Multivariable Control {#multivariable-control}
From (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>): From (<a href="#citeproc_bib_item_69">Thayer et al. 2002</a>):
> 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. > 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 | (<a href="#citeproc_bib_item_40">Lei and Benli 2008</a>) | | China | PZT | Geophone (struts) | H-Infinity and mu-synthesis | (<a href="#citeproc_bib_item_42">Lei and Benli 2008</a>) |
|----------------|------------|---------------------------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------------------------| |----------------|------------|---------------------------------------------------|-------------------------------------------------------------------------------|-----------------------------------------------------------------|
| China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (<a href="#citeproc_bib_item_75">Xie, Wang, and Zhang 2017</a>) | | China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | (<a href="#citeproc_bib_item_78">Xie, Wang, and Zhang 2017</a>) |
| Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | (<a href="#citeproc_bib_item_37">Jiao et al. 2018</a>) | | Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | (<a href="#citeproc_bib_item_38">Jiao et al. 2018</a>) |
### Long Stroke Stewart Platforms {#long-stroke-stewart-platforms} ### Long Stroke Stewart Platforms {#long-stroke-stewart-platforms}
@@ -485,12 +485,12 @@ From (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>):
| Link to bibliography | University | Actuators | Sensors | Control | Main Object | | Link to bibliography | University | Actuators | Sensors | Control | Main Object |
|-------------------------------------------------------------------------------------------------------------------------------------------------|----------------|------------------------|------------------|--------------------------------------------------|--------------------------------------------| |-------------------------------------------------------------------------------------------------------------------------------------------------|----------------|------------------------|------------------|--------------------------------------------------|--------------------------------------------|
| (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>) | Japan | DC, gear + rack pinion | Encoder, 7um res | Decentralized (struts), PID control | Singular configuration analysis, workspace | | (<a href="#citeproc_bib_item_17">Cleary and Arai 1991</a>) | Japan | DC, gear + rack pinion | Encoder, 7um res | Decentralized (struts), PID control | Singular configuration analysis, workspace |
| (<a href="#citeproc_bib_item_61">Su et al. 2004</a>) | Xidian (China) | | | | | | (<a href="#citeproc_bib_item_64">Su et al. 2004</a>) | Xidian (China) | | | | |
| (<a href="#citeproc_bib_item_33">Huang and Fu 2005</a>) | Taiwan | | | | | | (<a href="#citeproc_bib_item_34">Huang and Fu 2005</a>) | Taiwan | | | | |
| (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_32">Houška, Březina, and Březina 2010</a>) | Czech | DC | | | Modeling with sim-mechanics | | (<a href="#citeproc_bib_item_11">Březina, Andrš, and Březina 2008</a>), (<a href="#citeproc_bib_item_33">Houška, Březina, and Březina 2010</a>) | Czech | DC | | | Modeling with sim-mechanics |
| (<a href="#citeproc_bib_item_51">Molina, Rosario, and Sanchez 2008</a>) | Brazil | | | | Simulation with Matlab/Simulink | | (<a href="#citeproc_bib_item_53">Molina, Rosario, and Sanchez 2008</a>) | Brazil | | | | Simulation with Matlab/Simulink |
| (<a href="#citeproc_bib_item_76">Yang et al. 2010</a>) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics | | (<a href="#citeproc_bib_item_79">Yang et al. 2010</a>) | China | | | Decentralized PID | Simulation with Simulink/SimMechanics |
| (<a href="#citeproc_bib_item_38">Kim, Kang, and Lee 2000</a>) | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | | | (<a href="#citeproc_bib_item_39">Kim, Kang, and Lee 2000</a>) | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | |
## Main Bibliography {#main-bibliography} ## Main Bibliography {#main-bibliography}
@@ -498,28 +498,28 @@ From (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>):
### Books {#books} ### Books {#books}
- (<a href="#citeproc_bib_item_48">Merlet 2006</a>) - (<a href="#citeproc_bib_item_50">Merlet 2006</a>)
- (<a href="#citeproc_bib_item_62">Taghirad 2013</a>) - (<a href="#citeproc_bib_item_65">Taghirad 2013</a>)
- (<a href="#citeproc_bib_item_56">Preumont 2018</a>) - (<a href="#citeproc_bib_item_59">Preumont 2018</a>)
- (<a href="#citeproc_bib_item_6">Arakelian 2018</a>) - (<a href="#citeproc_bib_item_6">Arakelian 2018</a>)
### PhD Thesis {#phd-thesis} ### PhD Thesis {#phd-thesis}
- (<a href="#citeproc_bib_item_42">Li 2001</a>) - (<a href="#citeproc_bib_item_44">Li 2001</a>)
- (<a href="#citeproc_bib_item_9">Bishop Jr 2002</a>) - (<a href="#citeproc_bib_item_9">Bishop Jr 2002</a>)
- (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>) - (<a href="#citeproc_bib_item_2">Abu Hanieh 2003</a>)
- (<a href="#citeproc_bib_item_73">Vivas 2004</a>) - (<a href="#citeproc_bib_item_76">Vivas 2004</a>)
- (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>) - (<a href="#citeproc_bib_item_4">Afzali-Far 2016</a>)
- (<a href="#citeproc_bib_item_20">Deng 2017</a>) - (<a href="#citeproc_bib_item_20">Deng 2017</a>)
- (NO_ITEM_DATA:naves20_desig) - (<a href="#citeproc_bib_item_55">Naves et al. 2020</a>)
### Articles - Reviews {#articles-reviews} ### Articles - Reviews {#articles-reviews}
- (<a href="#citeproc_bib_item_18">Dasgupta and Mruthyunjaya 2000</a>) - (<a href="#citeproc_bib_item_18">Dasgupta and Mruthyunjaya 2000</a>)
- (<a href="#citeproc_bib_item_49">Merlet 2002</a>) - (<a href="#citeproc_bib_item_51">Merlet 2002</a>)
- (<a href="#citeproc_bib_item_54">Patel and George 2012</a>) - (<a href="#citeproc_bib_item_57">Patel and George 2012</a>)
- (<a href="#citeproc_bib_item_13">Buzurovic 2012</a>) - (<a href="#citeproc_bib_item_13">Buzurovic 2012</a>)
- (<a href="#citeproc_bib_item_24">Furqan, Suhaib, and Ahmad 2017</a>) - (<a href="#citeproc_bib_item_24">Furqan, Suhaib, and Ahmad 2017</a>)
@@ -552,61 +552,62 @@ From (<a href="#citeproc_bib_item_66">Thayer et al. 2002</a>):
<div class="csl-entry"><a id="citeproc_bib_item_23"></a>Du, Z., R. Shi, and W. Dong. 2014. “A Piezo-Actuated High-Precision Flexible Parallel Pointing Mechanism: Conceptual Design, Development, and Experiments.” <i>IEEE Transactions on Robotics</i> 30 (1): 131–37. doi:<a href="https://doi.org/10.1109/tro.2013.2288800">10.1109/tro.2013.2288800</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_23"></a>Du, Z., R. Shi, and W. Dong. 2014. “A Piezo-Actuated High-Precision Flexible Parallel Pointing Mechanism: Conceptual Design, Development, and Experiments.” <i>IEEE Transactions on Robotics</i> 30 (1): 131–37. doi:<a href="https://doi.org/10.1109/tro.2013.2288800">10.1109/tro.2013.2288800</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_24"></a>Furqan, Mohd, Mohd Suhaib, and Nazeer Ahmad. 2017. “Studies on Stewart Platform Manipulator: A Review.” <i>Journal of Mechanical Science and Technology</i> 31 (9): 4459–70. doi:<a href="https://doi.org/10.1007/s12206-017-0846-1">10.1007/s12206-017-0846-1</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_24"></a>Furqan, Mohd, Mohd Suhaib, and Nazeer Ahmad. 2017. “Studies on Stewart Platform Manipulator: A Review.” <i>Journal of Mechanical Science and Technology</i> 31 (9): 4459–70. doi:<a href="https://doi.org/10.1007/s12206-017-0846-1">10.1007/s12206-017-0846-1</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_25"></a>Furutani, K., M. Suzuki, and R. Kudoh. 2004. “Nanometre-Cutting Machine Using a Stewart-Platform Parallel Mechanism.” <i>Measurement Science and Technology</i> 15 (2): 467–74. doi:<a href="https://doi.org/10.1088/0957-0233/15/2/022">10.1088/0957-0233/15/2/022</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_25"></a>Furutani, K., M. Suzuki, and R. Kudoh. 2004. “Nanometre-Cutting Machine Using a Stewart-Platform Parallel Mechanism.” <i>Measurement Science and Technology</i> 15 (2): 467–74. doi:<a href="https://doi.org/10.1088/0957-0233/15/2/022">10.1088/0957-0233/15/2/022</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_26"></a>Geng, Zheng, and Leonard S. Haynes. 1993. “Six-Degree-of-Freedom Active Vibration Isolation Using a Stewart Platform Mechanism.” <i>Journal of Robotic Systems</i> 10 (5): 725–44. doi:<a href="https://doi.org/10.1002/rob.4620100510">10.1002/rob.4620100510</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_26"></a>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.” <i>Mechanism and Machine Theory</i> 37 (11): 1395–1411. doi:<a href="https://doi.org/10.1016/s0094-114x(02)00044-7">10.1016/s0094-114x(02)00044-7</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_27"></a>Geng, Z. J., and L. S. Haynes. 1994. “Six Degree-of-Freedom Active Vibration Control Using the Stewart Platforms.” <i>IEEE Transactions on Control Systems Technology</i> 2 (1): 45–53. doi:<a href="https://doi.org/10.1109/87.273110">10.1109/87.273110</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_27"></a>Geng, Zheng, and Leonard S. Haynes. 1993. “Six-Degree-of-Freedom Active Vibration Isolation Using a Stewart Platform Mechanism.” <i>Journal of Robotic Systems</i> 10 (5): 725–44. doi:<a href="https://doi.org/10.1002/rob.4620100510">10.1002/rob.4620100510</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_28"></a>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.” <i>Journal of Intelligent Material Systems and Structures</i> 6 (6): 787–800. doi:<a href="https://doi.org/10.1177/1045389x9500600607">10.1177/1045389x9500600607</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_28"></a>Geng, Z. J., and L. S. Haynes. 1994. “Six Degree-of-Freedom Active Vibration Control Using the Stewart Platforms.” <i>IEEE Transactions on Control Systems Technology</i> 2 (1): 45–53. doi:<a href="https://doi.org/10.1109/87.273110">10.1109/87.273110</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_29"></a>Gexue, Ren, Lu Qiuhai, Hu Ning, Nan Rendong, and Peng Bo. 2004. “On Vibration Control with Stewart Parallel Mechanism.” <i>Mechatronics</i> 14 (1): 1–13. doi:<a href="https://doi.org/10.1016/s0957-4158(02)00092-2">10.1016/s0957-4158(02)00092-2</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_29"></a>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.” <i>Journal of Intelligent Material Systems and Structures</i> 6 (6): 787–800. doi:<a href="https://doi.org/10.1177/1045389x9500600607">10.1177/1045389x9500600607</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_30"></a>Hauge, G. S., and M. E. Campbell. 2004. “Sensors and Control of a Space-Based Six-Axis Vibration Isolation System.” <i>Journal of Sound and Vibration</i> 269 (3-5): 913–31. doi:<a href="https://doi.org/10.1016/s0022-460x(03)00206-2">10.1016/s0022-460x(03)00206-2</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_30"></a>Gexue, Ren, Lu Qiuhai, Hu Ning, Nan Rendong, and Peng Bo. 2004. “On Vibration Control with Stewart Parallel Mechanism.” <i>Mechatronics</i> 14 (1): 1–13. doi:<a href="https://doi.org/10.1016/s0957-4158(02)00092-2">10.1016/s0957-4158(02)00092-2</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_31"></a>Horin, P. Ben, and M. Shoham. 2006. “Singularity Condition of Six-Degree-of-Freedom Three-Legged Parallel Robots Based on Grassmann-Cayley Algebra.” <i>IEEE Transactions on Robotics</i> 22 (4): 577–90. doi:<a href="https://doi.org/10.1109/tro.2006.878958">10.1109/tro.2006.878958</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_31"></a>Hauge, G. S., and M. E. Campbell. 2004. “Sensors and Control of a Space-Based Six-Axis Vibration Isolation System.” <i>Journal of Sound and Vibration</i> 269 (3-5): 913–31. doi:<a href="https://doi.org/10.1016/s0022-460x(03)00206-2">10.1016/s0022-460x(03)00206-2</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_32"></a>Houška, P., T. Březina, and L. Březina. 2010. “Design and Implementation of the Absolute Linear Position Sensor for the Stewart Platform.” In <i>Recent Advances in Mechatronics</i>, 347–52. Recent Advances in Mechatronics. Springer Berlin Heidelberg. doi:<a href="https://doi.org/10.1007/978-3-642-05022-0_59">10.1007/978-3-642-05022-0_59</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_32"></a>Horin, P. Ben, and M. Shoham. 2006. “Singularity Condition of Six-Degree-of-Freedom Three-Legged Parallel Robots Based on Grassmann-Cayley Algebra.” <i>IEEE Transactions on Robotics</i> 22 (4): 577–90. doi:<a href="https://doi.org/10.1109/tro.2006.878958">10.1109/tro.2006.878958</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_33"></a>Huang, Chin I, and Li-Chen Fu. 2005. “Smooth Sliding Mode Tracking Control of the Stewart Platform.” In <i>Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.</i> doi:<a href="https://doi.org/10.1109/cca.2005.1507098">10.1109/cca.2005.1507098</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_33"></a>Houška, P., T. Březina, and L. Březina. 2010. “Design and Implementation of the Absolute Linear Position Sensor for the Stewart Platform.” In <i>Recent Advances in Mechatronics</i>, 347–52. Recent Advances in Mechatronics. Springer Berlin Heidelberg. doi:<a href="https://doi.org/10.1007/978-3-642-05022-0_59">10.1007/978-3-642-05022-0_59</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_34"></a>Jafari, F., and J. E. McInroy. 2003. “Orthogonal Gough-Stewart Platforms for Micromanipulation.” <i>IEEE Transactions on Robotics and Automation</i> 19 (4). Institute of Electrical and Electronics Engineers (IEEE): 595–603. doi:<a href="https://doi.org/10.1109/tra.2003.814506">10.1109/tra.2003.814506</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_34"></a>Huang, Chin I, and Li-Chen Fu. 2005. “Smooth Sliding Mode Tracking Control of the Stewart Platform.” In <i>Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005.</i> doi:<a href="https://doi.org/10.1109/cca.2005.1507098">10.1109/cca.2005.1507098</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_35"></a>Jiang, Qimi, and Clément M. Gosselin. 2009a. “Determination of the Maximal Singularity-Free Orientation Workspace for the Gough-Stewart Platform.” <i>Mechanism and Machine Theory</i> 44 (6): 1281–93. doi:<a href="https://doi.org/10.1016/j.mechmachtheory.2008.07.005">10.1016/j.mechmachtheory.2008.07.005</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_35"></a>Jafari, F., and J. E. McInroy. 2003. “Orthogonal Gough-Stewart Platforms for Micromanipulation.” <i>IEEE Transactions on Robotics and Automation</i> 19 (4). Institute of Electrical and Electronics Engineers (IEEE): 595–603. doi:<a href="https://doi.org/10.1109/tra.2003.814506">10.1109/tra.2003.814506</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_36"></a>———. 2009b. “Evaluation and Representation of the Theoretical Orientation Workspace of the Gough-Stewart Platform.” <i>Journal of Mechanisms and Robotics</i> 1 (2). doi:<a href="https://doi.org/10.1115/1.3046137">10.1115/1.3046137</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_36"></a>Jiang, Qimi, and Clément M. Gosselin. 2009a. “Determination of the Maximal Singularity-Free Orientation Workspace for the Gough-Stewart Platform.” <i>Mechanism and Machine Theory</i> 44 (6): 1281–93. doi:<a href="https://doi.org/10.1016/j.mechmachtheory.2008.07.005">10.1016/j.mechmachtheory.2008.07.005</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_37"></a>Jiao, J., Y. Wu, K. Yu, and R. Zhao. 2018. “Dynamic Modeling and Experimental Analyses of Stewart Platform with Flexible Hinges.” <i>Journal of Vibration and Control</i> 25 (1): 151–71. doi:<a href="https://doi.org/10.1177/1077546318772474">10.1177/1077546318772474</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_37"></a>———. 2009b. “Evaluation and Representation of the Theoretical Orientation Workspace of the Gough-Stewart Platform.” <i>Journal of Mechanisms and Robotics</i> 1 (2). doi:<a href="https://doi.org/10.1115/1.3046137">10.1115/1.3046137</a>.</div>
<div class="csl-entry"><a id="citeproc_bib_item_38"></a>Kim, D. H., J.-Y. Kang, and K.-I. Lee. 2000. “Robust Tracking Control Design for a 6 Dof Parallel Manipulator.” <i>Journal of Robotic Systems</i> 17 (10): 527–47. doi:<a href="https://doi.org/10.1002/1097-4563(200010)17:10$<$527::AID-ROB2>3.0.CO;2-A">10.1002/1097-4563(200010)17:10$&#60;$527:AID-ROB2&#62;3.0.CO;2-A</a>.</div> <div class="csl-entry"><a id="citeproc_bib_item_38"></a>Jiao, J., Y. Wu, K. Yu, and R. Zhao. 2018. “Dynamic Modeling and Experimental Analyses of Stewart Platform with Flexible Hinges.” <i>Journal of Vibration and Control</i> 25 (1): 151–71. doi:<a href="https://doi.org/10.1177/1077546318772474">10.1177/1077546318772474</a>.</div>
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</div> </div>
content/zettels/structured_singular_value.md
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@@ -1,16 +0,0 @@
+++
title = "Structured Singular Value"
author = ["Dehaeze Thomas"]
draft = false
category = "Control Theory"
subcategory = "Advanced Control"
+++
Tags
:
## Bibliography {#bibliography}
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
</div>
content/zettels/transconductance_amplifiers.md
+7 -5
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@@ -57,7 +57,7 @@ Such amplifier is used to control motors (e.g. voice coil, BLDC, stepper motors,
## Required properties {#required-properties} ## Required properties {#required-properties}
Main required properties are (taken from (<a href="#citeproc_bib_item_2">Schmidt, Schitter, and Rankers 2020</a>)): Main required properties are (taken from (<a href="#citeproc_bib_item_4">Schmidt, Schitter, and Rankers 2020</a>)):
- **Power delivery capability** - **Power delivery capability**
- **Dynamic properties** - **Dynamic properties**
@@ -221,14 +221,14 @@ Howland current source is shown in [Figure 1](#figure--fig:art-electronics-curre
<a id="figure--fig:art-electronics-current-source"></a> <a id="figure--fig:art-electronics-current-source"></a>
{{< figure src="/ox-hugo/art_electronics_current_source.png" caption="<span class='figure-number'>Figure 1: </span>From <&horowitz15_art_of_elect_third_edition>" >}} {{< figure src="/ox-hugo/art_electronics_current_source.png" caption="<span class='figure-number'>Figure 1: </span>From (<a href='#citeproc_bib_item_1'>Horowitz 2015</a>)" >}}
### Other circuits found in the litterature {#other-circuits-found-in-the-litterature} ### Other circuits found in the litterature {#other-circuits-found-in-the-litterature}
{{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="<span class='figure-number'>Figure 2: </span>From <&lafarga24_activ_vibrat_isolat_system_space_applic>, Appendix B" >}} {{< figure src="/ox-hugo/lafarga24_current_amplifier.png" caption="<span class='figure-number'>Figure 2: </span>From (<a href='#citeproc_bib_item_2'>Lafarga 2024</a>), Appendix B" >}}
{{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="<span class='figure-number'>Figure 3: </span>From <&okyay16_mechat_desig_dynam_contr_metrol>, Appendix A" >}} {{< figure src="/ox-hugo/okyay16_current_amplifier_schematic.png" caption="<span class='figure-number'>Figure 3: </span>From (<a href='#citeproc_bib_item_3'>Okyay 2016</a>), Appendix A" >}}
## Estimation of the required current noise {#estimation-of-the-required-current-noise} ## Estimation of the required current noise {#estimation-of-the-required-current-noise}
@@ -345,5 +345,7 @@ In = 2.4e-06 [A/sqrt(Hz)]
<style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body"> <style>.csl-entry{text-indent: -1.5em; margin-left: 1.5em;}</style><div class="csl-bib-body">
<div class="csl-entry"><a id="citeproc_bib_item_1"></a>Horowitz, Paul. 2015. <i>The Art of Electronics - Third Edition</i>. New York, NY, USA: Cambridge University Press.</div> <div class="csl-entry"><a id="citeproc_bib_item_1"></a>Horowitz, Paul. 2015. <i>The Art of Electronics - Third Edition</i>. New York, NY, USA: Cambridge University Press.</div>
<div class="csl-entry"><a id="citeproc_bib_item_2"></a>Schmidt, R. M., G. Schitter, and A. Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div> <div class="csl-entry"><a id="citeproc_bib_item_2"></a>Lafarga, Vicente. 2024. “Active Vibration Isolation System for Space Applications.” ULB.</div>
<div class="csl-entry"><a id="citeproc_bib_item_3"></a>Okyay, A. 2016. “Mechatronic Design, Dynamics, Controls, and Metrology of a Long-Stroke Linear Nano-Positioner.” University of Waterloo.</div>
<div class="csl-entry"><a id="citeproc_bib_item_4"></a>Schmidt, R. M., G. Schitter, and A. Rankers. 2020. <i>The Design of High Performance Mechatronics - Third Revised Edition</i>. Ios Press.</div>
</div> </div>