UP | HOME

# Stewart Platform - Bibliography

## Table of Contents

- 1. Built Stewart PLatforms
  - 1.1. Short Stroke
  - 1.2. Long Stroke
- 2. Articles - Design Related
  - 2.1. Flexures
  - 2.2. Decoupling
  - 2.3. Alternative Architectures
  - 2.4. Workspace
  - 2.5. Modelling
    - 2.5.1. Multi Body
    - 2.5.2. Analytical
    - 2.5.3. Lumped
- 3. Control
  - 3.1. Vibration Control and Active Damping
    - 3.1.1. Integral Force Feedback
    - 3.1.2. Sky-Hood Damping
    - 3.1.3. Vibration Control of Narrowband Disturbances
  - 3.2. Position Control
  - 3.3. Multi Sensor Control
    - 3.3.1. Two sensor control
    - 3.3.2. HAC-LAC
    - 3.3.3. Sensor Fusion
    - 3.3.4. Other Strategies
  - 3.4. Decoupling Strategies
    - 3.4.1. Jacobian - Struts
    - 3.4.2. Jacobian - Cartesian
    - 3.4.3. Modal Decoupling
    - 3.4.4. Multivariable Control
  - 3.5. Long Stroke Stewart Platforms
- 4. Main Bibliography
  - 4.1. Books
  - 4.2. PhD Thesis
  - 4.3. Articles - Reviews

## 1. Built Stewart PLatforms

Actuators:

- Short Stroke: PZT, Voice Coil, Magnetostrictive
- Long Stroke: DC, AC, Servo + Ball Screw, Inchworm

Joints:

- Flexible: usually for short stroke
- Conventional

Sensors:

- Force Sensors
- Relative Motion Sensors: Encoders, LVDT
- Strain Gauge
- Inertial Sensors (Geophone, Accelerometer)
- External Metrology

### 1.1. Short Stroke

University | Figure | Configuration | Joints | Actuators | Sensors | Application | Link to bibliography
--- | --- | --- | --- | --- | --- | --- | ---
JPL | fig:stewart_jpl | Cubic | Flexible | Voice Coil (0.5 mm) | Force (collocated) |  | spanos95_soft_activ_vibrat_isolat, rahman98_multiax Vibration Isolation (Space)
Washinton, JPL | fig:stewart_ht_uw | Cubic | Elastomers | Voice Coil (10 mm) | Force, LVDT, Geophones | Isolation + Pointing (Space) | thayer98_stewar, thayer02_six_axis_vibrat_isolat_system, hauge04_sensor_contr_space_based_six
Wyoming | fig:stewart_uw_gsp | Cubic (CoM=CoK) | Flexible | Voice Coil | Force |  | mcinroy99_dynam, mcinroy99_precis_fault_toler_point_using_stewar_platf, mcinroy00_desig_contr_flexur_joint_hexap, li01_simul_vibrat_isolat_point_contr, jafari03_orthog_gough_stewar_platf_microm
Brussels | fig:stewart_ulb_vc | Cubic | Flexible | Voice Coil | Force | Vibration Isolation | hanieh03_activ_stewar, preumont07_six_axis_singl_stage_activ
SRDC | fig:stewart_naval | Not Cubic | Ball joints | Voice Coil (10 mm) |  |  | taranti01_effic_algor_vibrat_suppr
SRDC | fig:stewart_pph | Non-Cubic | Flexible | Voice Coil | Accelerometers, External metrology: Eddy Current + optical | Pointing | chen03_payload_point_activ_vibrat_isolat
Harbin (China) | fig:stewart_tang18 | Cubic | Flexible | Voice Coil | Accelerometer in each leg |  | chi15_desig_exper_study_vcm_based, tang18_decen_vibrat_contr_voice_coil, jiao18_dynam_model_exper_analy_stewar
Einhoven | fig:stewart_beijen | Almost cubic | Flexible | Voice Coil | Force Sensor + Accelerometer | Vibration Isolation | beijen18_self_tunin_mimo_distur_feedf, tjepkema12_activ_ph
JPL | fig:stewart_geng | Cubic (6-UPU) | Flexible | Magnetostrictive | Force (collocated), Accelerometers | Vibration Isolation | geng93_six_degree_of_freed_activ, geng94_six_degree_of_freed_activ, geng95_intel_contr_system_multip_degree
China | fig:stewart_zhang11 | Non-cubic | Flexible | Magnetostrictive | Inertial |  | zhang11_six_dof
Brussels | fig:stewart_ulb_pz | Cubic | Flexible | Piezoelectric, Amplified | Piezo Force | Active Damping | abu02_stiff_soft_stewar_platf_activ
SRDC | fig:stewart_uqp | Cubic |  | Piezoelectric (50 um) | Geophone | Vibration | agrawal04_algor_activ_vibrat_isolat_spacec
Taiwan | fig:stewart_nanoscale | Cubic | Flexible | Piezoelectric (120 um) | External capacitive |  | ting06_desig_stewar_nanos_platf, ting13_compos_contr_desig_stewar_nanos_platf
Taiwan | fig:stewart_ting07 | Non-Cubic | Flexible | Piezoelectric (160 um) | External capacitive (LION) |  | ting07_measur_calib_stewar_microm_system
Harbin (China) | fig:stewart_du14 | 6-SPS (Optimized) | Flexible | Piezoelectric | Strain Gauge |  | du14_piezo_actuat_high_precis_flexib
Japan | fig:stewart_furutani | Non-Cubic | Flexible | Piezoelectric (16 um) | Eddy Current Displacement Sensors | Cutting machine | furutani04_nanom_cuttin_machin_using_stewar
China | fig:stewart_yang19 | 6-UPS (Cubic?) | Flexible | Piezoelectric | Force, Position |  | yang19_dynam_model_decoup_contr_flexib
Shangai | fig:stewart_wang16 | Cubic | Flexible | Piezoelectric | Force Sensor + Accelerometer |  | wang16_inves_activ_vibrat_isolat_stewar
Matra (France) | fig:stewart_mais | Cubic | Flexible | Piezoelectric (25 um) | Piezo force sensors | Vibration control | defendini00_techn
Japan | fig:stewart_torii | Non-Cubic | Flexible | Inchworm |  |  | torii12_small_size_self_propel_stewar_platf
Netherlands | fig:stewart_naves | Non-Cubic | Flexible | 3-phase rotary motor | Rotary Encoders |  | &naves20_desig;&naves20_t_flex

Figure 1: T-flex &naves20_desig

Figure 2: &taranti01_effic_algor_vibrat_suppr

Figure 3: &defendini00_techn

Figure 4: &geng94_six_degree_of_freed_activ

Figure 5: &spanos95_soft_activ_vibrat_isolat

Figure 6: &furutani04_nanom_cuttin_machin_using_stewar

Figure 7: &torii12_small_size_self_propel_stewar_platf

Figure 8: &wang16_inves_activ_vibrat_isolat_stewar

Figure 9: &beijen18_self_tunin_mimo_distur_feedf

Figure 10: &zhang11_six_dof

Figure 11: &yang19_dynam_model_decoup_contr_flexib

Figure 12: &du14_piezo_actuat_high_precis_flexib

Figure 13: &tang18_decen_vibrat_contr_voice_coil

Figure 14: &ting06_desig_stewar_nanos_platf

Figure 15: &ting07_measur_calib_stewar_microm_system

Figure 16: Hood Technology Corporation (HT) and the University of Washington (UW) have designed and tested a unique hexapod design for spaceborne interferometry missions &thayer02_six_axis_vibrat_isolat_system

Figure 17: UW GSP: Mutually Orthogonal Stewart Geometry &li01_simul_fault_vibrat_isolat_point

Figure 18: Precision Pointing Hexapod (PPH) &chen03_payload_point_activ_vibrat_isolat

Figure 19: Ultra Quiet Platform (UQP) &agrawal04_algor_activ_vibrat_isolat_spacec

Figure 20: ULB - Piezoelectric &abu02_stiff_soft_stewar_platf_activ

Figure 21: ULB - Voice Coil &hanieh03_activ_stewar

### 1.2. Long Stroke

University | Figure | Configuration | Joints | Actuators | Sensors | Link to bibliography
--- | --- | --- | --- | --- | --- | ---
Japan | fig:stewart_cleary | 6-UPS | Conventional | DC, gear + rack pinion | Encoder, 7um res | cleary91_protot_paral_manip
Seoul | fig:stewart_kim00 | Non-Cubic | Conventional | Hydraulic | LVDT | kim00_robus_track_contr_desig_dof_paral_manip
Xidian (China) | fig:stewart_su04 | Non-Cubic | Conventional | Servo Motor + Screwball | Encoder | su04_distur_rejec_high_precis_motion
Czech | fig:stewart_czech | 6-UPS | Conventional | DC, Ball Screw | Absolute Linear position | brezina08_ni_labview_matlab_simmec_stewar_platf_desig, houska10_desig_implem_absol_linear_posit, brezina10_contr_desig_stewar_platf_linear_actuat

Figure 22: &cleary91_protot_paral_manip

Figure 23: &kim01_six

Figure 24: &su04_distur_rejec_high_precis_motion

Figure 25: Stewart platform from Brno University (Czech) &brezina08_ni_labview_matlab_simmec_stewar_platf_desig

## 2. Articles - Design Related

- Flexible joints (Section sec:design_flexure)
- Specific geometry to have good decoupling properties (Section sec:design_decoupling)
- Alternative architectures for 6DoF parallel mechanisms (Section sec:design_architecture)
- Workspace (Section sec:design_workspace)
- Modelling (Section sec:design_modelling)

### 2.1. Flexures

From &hauge04_sensor_contr_space_based_six:

> Elastomer flexures, rather than steel, reduce lateral stiffness and improve passive performance at payload resonance (damping) and at frequencies greater than 100 Hz.

Main Object | Link to bibliography
--- | ---
Effect of flexures | mcinroy02_model_desig_flexur_joint_stewar

### 2.2. Decoupling

Main Object | Link to bibliography
--- | ---
Geometry for decoupling (CoM, CoK) | mcinroy00_desig_contr_flexur_joint_hexap
| afzali-far16_vibrat_dynam_isotr_hexap_analy_studies

### 2.3. Alternative Architectures

Figure | Link to bibliography
--- | ---
fig:stewart_dong07 | dong08_stiff_resear_high_precis_large, dong07_desig_precis_compl_paral_posit
| kim09_desig_model_novel_precis_micro_stage
| yun10_desig_analy_novel_redun_actuat
| gao02_necw_kinem_struc_paral_manip_desig
| horin06_singul_condit_six_degree_of

Figure 26: &dong07_desig_precis_compl_paral_posit

### 2.4. Workspace

Main Object | Link to bibliography
--- | ---
Compute orientation | bonev01_new_approac_to_orien_works
Reachable Workspace | pernkopf06_works_analy_stewar_gough_type_paral_manip
Determination of the max. singularity free workspace | jiang09_deter_maxim_singul_free_orien
Orientation Workspace | jiang09_evaluat_repres_theor_orien_works

### 2.5. Modelling

#### 2.5.1. Multi Body

#### 2.5.2. Analytical

#### 2.5.3. Lumped

## 3. Control

Different control objectives:

- Vibration Control (Section sec:control_isolation)
- Position Control (Section sec:control_position)

Sometimes, the two objectives are simultaneous, in that case multiple sensors needs to be combined in the control architecture (Section sec:control_multi_sensor).

Stewart platform, being 6DoF parallel mechanisms, have a coupled dynamics. In order to ease the control design, decoupling is generally required. Several approaches can be used (Section sec:control_decoupling).

### 3.1. Vibration Control and Active Damping

From &hauge04_sensor_contr_space_based_six:

> 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. Force sensors typically work well because they are not as sensitive to payload and base dynamics, but are limited in performance by a low-frequency zero pair resulting from the cross-axial stiffness. This zero pair has confused many researchers because it is very sensitive, occasionally becoming non-minimum phase. The zero pair is the current limitation in performance using load cell sensors.

#### 3.1.1. Integral Force Feedback

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 | geng95_intel_contr_system_multip_degree
JPL | Voice Coil | Force (collocated) | Decentralized IFF | Decentralized force feedback to reduce the transmissibility | spanos95_soft_activ_vibrat_isolat, rahman98_multiax
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 | thayer98_stewar, thayer02_six_axis_vibrat_isolat_system
Wyoming | Voice Coil | Force | Centralized (cartesian) IFF | Difficult to decouple in practice | obrien98_lesson
Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | mcinroy99_dynam, mcinroy99_precis_fault_toler_point_using_stewar_platf, mcinroy00_desig_contr_flexur_joint_hexap
Brussels | APA | Piezo force sensor | Decentralized IFF |  | abu02_stiff_soft_stewar_platf_activ
Brussels | Voice Coil | Force Sensor | Decentralized IFF | Effect of flexible joints | preumont07_six_axis_singl_stage_activ
Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | wang16_inves_activ_vibrat_isolat_stewar
China |  |  | Decentralized IFF | Design cubic configuration to have same modal frequencies: optimal damping of all modes | yang17_dynam_isotr_desig_decen_activ
Washinton | Voice Coil | Force | Decentralized IFF | Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero | hauge04_sensor_contr_space_based_six
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 | yang19_dynam_model_decoup_contr_flexib

#### 3.1.2. Sky-Hood Damping

University | Actuators | Sensors | Control | Main Object | Link to bibliography
--- | --- | --- | --- | --- | ---
Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | li01_simul_vibrat_isolat_point_contr
China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control |  | pu11_six_degree_of_freed_activ
China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook |  | abbas14_vibrat_stewar_platf
Einhoven | Voice Coil | 6dof Accelerometers on mobile and fixed platforms | Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping) |  | beijen18_self_tunin_mimo_distur_feedf
Harbin (China) | Voice Coil | Accelerometer in each leg | Decentralized vibration control | Vibration Control with VCM and Decentralized control | tang18_decen_vibrat_contr_voice_coil
Washinton | Voice Coil | Geophones | Decentralized Inertial Feedback | Centralized control is no better than decentralized. Geophone + Force MISO control is good | thayer02_six_axis_vibrat_isolat_system
Washinton | Voice Coil | Geophones | Decentralized Sky Hood Damping | Comparison of force sensor and inertial sensors | hauge04_sensor_contr_space_based_six
Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | Model + active damping with flexible hinges | jiao18_dynam_model_exper_analy_stewar

#### 3.1.3. Vibration Control of Narrowband Disturbances

University | Actuators | Sensors | Control | Main Object | Link to bibliography
--- | --- | --- | --- | --- | ---
JPL | Magnetostrictive | Force, Accelerometers | Robust Adaptive Filter | Hardware implementation | geng93_six_degree_of_freed_activ, geng94_six_degree_of_freed_activ
SRDC |  |  | LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID | Rejection of narrowband periodic disturbances | chen03_payload_point_activ_vibrat_isolat
Wyoming | Voice Coil |  | Adaptive sinusoidal disturbance (Phase Lock Loop) |  | lin03_adapt_sinus_distur_cancel_precis
SRDC | Piezo | Geophone (collocated) | “multiple error LMS” (require measured disturbance) vs “clear box” |  | agrawal04_algor_activ_vibrat_isolat_spacec
China | Magnetostrictive | Inertial | Sinusoidal vibration, adaptive filters (LMS) | Design and Control of flexure joint Hexapods | zhang11_six_dof
Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | wang16_inves_activ_vibrat_isolat_stewar

### 3.2. Position Control

Here, the objective is to position the mobile platform with respect to an external metrology or internal metrology.

Control Strategy:

- Decentralized P, PI or PID
- LQR, LQG
- H-Infinity
- Two Layer

University | Actuators | Sensors | Control | Modelling | Main Object | Link to bibliography
--- | --- | --- | --- | --- | --- | ---
Washinton | Voice Coil | Force, LVDT, Geophones | LQG, Force + geophones for vibration, LVDT for pointing | FEM => State Space | Centralized control is no better than decentralized. Geophone + Force MISO control is good | thayer98_stewar, thayer02_six_axis_vibrat_isolat_system
Wyoming | Voice Coil | Force, LVDT | IFF, centralized (decouple) + decentralized (coupled) | Lumped | Specific geometry: decoupled force plant. Better perf with centralized IFF | mcinroy99_dynam, mcinroy99_precis_fault_toler_point_using_stewar_platf, mcinroy00_desig_contr_flexur_joint_hexap
Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) |  |  | kim00_robus_track_contr_desig_dof_paral_manip
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 | li01_simul_vibrat_isolat_point_contr
Japan | APA | Eddy current displacement | Decentralized (struts) PI + LPF control |  |  | furutani04_nanom_cuttin_machin_using_stewar
China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control |  |  | pu11_six_degree_of_freed_activ
Harbin (China) | PZT Piezo | Strain Gauge | Decentralized position feedback |  | Workspace, Stiffness analyzed | du14_piezo_actuat_high_precis_flexib
China | Piezoelectric | Leg length | Tracking control, ADRC, State observer | Analytical | Use of ADRC for tracking control of cubic hexapod | min19_high_precis_track_cubic_stewar
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 | yang19_dynam_model_decoup_contr_flexib

From: yang19_dynam_model_decoup_contr_flexib:

> 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. The idea is to synthesize the control force that can compensate the parasitic bending and torsional torques of the flexible joints and simultaneously achieve diagonalization of the matrices M, C and K.

### 3.3. Multi Sensor Control

Improvement by the use of several sensors:

- HAC-LAC
- Two sensor control
- Sensor Fusion

Comparison between “two sensor control” and “sensor fusion” is given in &beijen14_two_sensor_contr_activ_vibrat.

#### 3.3.1. Two sensor control

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 | hauge04_sensor_contr_space_based_six
Netherlands | Voice Coil |  | Sensor Fusion, Two Sensor Control |  | tjepkema12_activ_ph

#### 3.3.2. HAC-LAC

University | Actuators | Sensors | Control | Main Object | Link to bibliography
--- | --- | --- | --- | --- | ---
JPL | Magnetostrictive | Force (collocated), Accelerometers | Two layers: Decentralized IFF, Robust Adaptive Control | Two layer control for active damping and vibration isolation | geng95_intel_contr_system_multip_degree
Shangai | Piezoelectric | Force Sensor + Accelerometer | Vibration isolation, HAC-LAC (IFF + FxLMS) | Dynamic Model + Vibration Control | wang16_inves_activ_vibrat_isolat_stewar
Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | Decoupling, both vibration + pointing control | li01_simul_vibrat_isolat_point_contr
China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control |  | pu11_six_degree_of_freed_activ
China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers |  | xie17_model_contr_hybrid_passiv_activ

#### 3.3.3. Sensor Fusion

University | Actuators | Sensors | Control | Main Object | Link to bibliography
--- | --- | --- | --- | --- | ---
Netherlands | Voice Coil | Force (HF) and Inertial (LF) | Sensor Fusion, Two Sensor Control |  | tjepkema12_activ_ph, tjepkema12_sensor_fusion_activ_vibrat_isolat_precis_equip
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 | hauge04_sensor_contr_space_based_six

#### 3.3.4. Other Strategies

University | Actuators | Sensors | Control | Main Object | Link to bibliography
--- | --- | --- | --- | --- | ---
China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space | yang19_dynam_model_decoup_contr_flexib
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 | thayer98_stewar, thayer02_six_axis_vibrat_isolat_system
Wyoming | Voice Coil | Force | IFF, centralized (decouple) + decentralized (coupled) | Specific geometry: decoupled force plant. Better perf with centralized IFF | mcinroy99_dynam, mcinroy99_precis_fault_toler_point_using_stewar_platf, mcinroy00_desig_contr_flexur_joint_hexap

### 3.4. Decoupling Strategies

Different strategies:

- Jacobian decoupling: in the cartesian frame or in the frame of the struts
- Modal decoupling
- SVD decoupling

Identify Jacobian for better decoupling: cheng04_multi_body_system_model_gough, gexue04_vibrat_contr_with_stewar_paral_mechan.

#### 3.4.1. Jacobian - Struts

Japan | APA | Eddy current displacement | Decentralized (struts) PI + LPF control | furutani04_nanom_cuttin_machin_using_stewar
Harbin (China) | PZT Piezo | Strain Gauge | Decentralized position feedback | du14_piezo_actuat_high_precis_flexib

#### 3.4.2. Jacobian - Cartesian

Wyoming | Voice Coil | Force | Cartesian frame decoupling | obrien98_lesson
Wyoming | Voice Coil | Force | IFF, Cartesian Frame, Jacobians | mcinroy99_dynam, mcinroy99_precis_fault_toler_point_using_stewar_platf, mcinroy00_desig_contr_flexur_joint_hexap
Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) | kim00_robus_track_contr_desig_dof_paral_manip
Wyoming | Voice Coil | Accelerometer (collocated), ext. Rx/Ry sensors | Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor) | li01_simul_vibrat_isolat_point_contr
China | Voice Coil | Accelerometer in each leg | Centralized Vibration Control, PI, Skyhook | abbas14_vibrat_stewar_platf

#### 3.4.3. Modal Decoupling

China | Voice Coil | Geophone + Eddy Current (Struts, collocated) | Decentralized (Sky Hook) + Centralized (modal) Control | pu11_six_degree_of_freed_activ
China | Piezoelectric | Force, Position | Vibration isolation, Model-Based, Modal control: 6x PI controllers | yang19_dynam_model_decoup_contr_flexib

#### 3.4.4. Multivariable Control

From &thayer02_six_axis_vibrat_isolat_system:

> 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 | lei08_multi_objec_robus_activ_vibrat
China | Voice Coil | Force sensors (strus) + accelerometer (cartesian) | Decentralized Force Feedback + Centralized H2 control based on accelerometers | xie17_model_contr_hybrid_passiv_activ
Harbin (China) | Voice Coil | Accelerometers | MIMO H-Infinity, active damping | jiao18_dynam_model_exper_analy_stewar

### 3.5. Long Stroke Stewart Platforms

Link to bibliography | University | Actuators | Sensors | Control | Main Object
--- | --- | --- | --- | --- | ---
cleary91_protot_paral_manip | Japan | DC, gear + rack pinion | Encoder, 7um res | Decentralized (struts), PID control | Singular configuration analysis, workspace
su04_distur_rejec_high_precis_motion | Xidian (China) |  |  |  |
huang05_smoot_stewar | Taiwan |  |  |  |
brezina08_ni_labview_matlab_simmec_stewar_platf_desig, houska10_desig_implem_absol_linear_posit | Czech | DC |  |  | Modeling with sim-mechanics
molina08_simul_stewar | Brazil |  |  |  | Simulation with Matlab/Simulink
yang10_model_dof_simul_simmec | China |  |  | Decentralized PID | Simulation with Simulink/SimMechanics
kim00_robus_track_contr_desig_dof_paral_manip | Seoul | Hydraulic | LVDT | Decentralized (strut) vs Centralized (cartesian) |

## 4. Main Bibliography

### 4.1. Books

- merlet06_paral_robot
- taghirad13_paral
- preumont18_vibrat_contr_activ_struc_fourt_edition
- arakelian18_dynam_decoup_robot_manip

### 4.2. PhD Thesis

- li01_simul_fault_vibrat_isolat_point
- bishop02_devel_precis_point_contr_vibrat
- hanieh03_activ_stewar
- vivas04_contr
- afzali-far16_vibrat_dynam_isotr_hexap_analy_studies
- deng17_integ_dof_loren_actuat_gravit
- naves20_desig

### 4.3. Articles - Reviews

- dasgupta00_stewar_platf_manip
- merlet02_still
- patel12_paral_manip_applic_survey
- buzurovic12_advan_contr_method_paral_robot_system
- furqan17_studies_stewar_platf_manip

ref.bib

Author: Dehaeze Thomas

Created: 2024-09-25 Wed 15:17