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# Stewart Platform - Static Analysis

## Table of Contents

- 1. Coupling

## 1 Coupling

What causes the coupling from \(F_i\) to \(X_i\) ?

Figure 1: Block diagram to control an hexapod

There is no coupling from \(F_i\) to \(X_j\) if \(J^{-1} G J^{-T}\) is diagonal.

If \(G\) is diagonal (cubic configuration), then \(J^{-1} G J^{-T} = G J^{-1} J^{-T} = G (J^{T} J)^{-1} = G K^{-1}\)

Thus, the system is uncoupled if \(G\) and \(K\) are diagonal.

Author: Dehaeze Thomas

Created: 2021-01-08 ven. 15:53