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2020-02-11 15:27:39 +01:00
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2020-01-22 15:47:00 +01:00
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2021-01-08 15:34:53 +01:00
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<h1 class="title">Stewart Platform - Static Analysis</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<ul>
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<li><a href="#org5d87fd3">1. Coupling</a></li>
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<h2 id="org5d87fd3"><span class="section-number-2">1</span> Coupling</h2>
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<div class="outline-text-2" id="text-1">
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<p>
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What causes the coupling from \(F_i\) to \(X_i\) ?
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</p>
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<div id="orgd94ead3" class="figure">
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<p><img src="figs/coupling.png" alt="coupling.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Block diagram to control an hexapod</p>
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<p>
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There is no coupling from \(F_i\) to \(X_j\) if \(J^{-1} G J^{-T}\) is diagonal.
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</p>
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<p>
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If \(G\) is diagonal (cubic configuration), then \(J^{-1} G J^{-T} = G J^{-1} J^{-T} = G (J^{T} J)^{-1} = G K^{-1}\)
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</p>
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<p>
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Thus, the system is uncoupled if \(G\) and \(K\) are diagonal.
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</p>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2021-01-08 ven. 15:53</p>
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