Stewart Platform - Static Analysis
Table of Contents
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.