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<title>Stewart Platform - Bibliography</title>
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<h1 class="title">Stewart Platform - Bibliography</h1>
<div id="table-of-contents" role="doc-toc">
<h2>Table of Contents</h2>
<div id="text-table-of-contents" role="doc-toc">
<ul>
<li><a href="#org1d14c3d">1. Built Stewart PLatforms</a>
<ul>
<li><a href="#orgaed1086">1.1. Short Stroke</a></li>
<li><a href="#orgd09724e">1.2. Long Stroke</a></li>
</ul>
</li>
<li><a href="#org6474ab8">2. Articles - Design Related</a>
<ul>
<li><a href="#orga1df8ae">2.1. Flexures</a></li>
<li><a href="#orgc15d713">2.2. Decoupling</a></li>
<li><a href="#org4384854">2.3. Alternative Architectures</a></li>
<li><a href="#org8ff5082">2.4. Workspace</a></li>
<li><a href="#orga4bfe6b">2.5. Modelling</a>
<ul>
<li><a href="#org14cbf7d">2.5.1. Multi Body</a></li>
<li><a href="#orga7b7177">2.5.2. Analytical</a></li>
<li><a href="#org2335fb1">2.5.3. Lumped</a></li>
</ul>
</li>
</ul>
</li>
<li><a href="#org9c5d9bd">3. Control</a>
<ul>
<li><a href="#orgf322706">3.1. Vibration Control and Active Damping</a>
<ul>
<li><a href="#org179ac0b">3.1.1. Integral Force Feedback</a></li>
<li><a href="#org7d6c27b">3.1.2. Sky-Hood Damping</a></li>
<li><a href="#org53e0a02">3.1.3. Vibration Control of Narrowband Disturbances</a></li>
</ul>
</li>
<li><a href="#org43ad70b">3.2. Position Control</a></li>
<li><a href="#org7c248fb">3.3. Multi Sensor Control</a>
<ul>
<li><a href="#orge99221e">3.3.1. Two sensor control</a></li>
<li><a href="#org3894865">3.3.2. HAC-LAC</a></li>
<li><a href="#org31bec31">3.3.3. Sensor Fusion</a></li>
<li><a href="#org8005615">3.3.4. Other Strategies</a></li>
</ul>
</li>
<li><a href="#org902d27e">3.4. Decoupling Strategies</a>
<ul>
<li><a href="#org1592d01">3.4.1. Jacobian - Struts</a></li>
<li><a href="#org28c5d71">3.4.2. Jacobian - Cartesian</a></li>
<li><a href="#orge58da27">3.4.3. Modal Decoupling</a></li>
<li><a href="#org4c0f05d">3.4.4. Multivariable Control</a></li>
</ul>
</li>
<li><a href="#orgc4b0f2e">3.5. Long Stroke Stewart Platforms</a></li>
</ul>
</li>
<li><a href="#org4e6dda0">4. Main Bibliography</a>
<ul>
<li><a href="#org164998a">4.1. Books</a></li>
<li><a href="#org4e9cb74">4.2. PhD Thesis</a></li>
<li><a href="#org6fed6a3">4.3. Articles - Reviews</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="outline-container-org1d14c3d" class="outline-2">
<h2 id="org1d14c3d"><span class="section-number-2">1.</span> Built Stewart PLatforms</h2>
<div class="outline-text-2" id="text-1">
<p>
<a id="orgbc8651e"></a>
</p>
<p>
Actuators:
</p>
<ul class="org-ul">
<li>Short Stroke: PZT, Voice Coil, Magnetostrictive</li>
<li>Long Stroke: DC, AC, Servo + Ball Screw, Inchworm</li>
</ul>
<p>
Joints:
</p>
<ul class="org-ul">
<li>Flexible: usually for short stroke</li>
<li>Conventional</li>
</ul>
<p>
Sensors:
</p>
<ul class="org-ul">
<li>Force Sensors</li>
<li>Relative Motion Sensors: Encoders, LVDT</li>
<li>Strain Gauge</li>
<li>Inertial Sensors (Geophone, Accelerometer)</li>
<li>External Metrology</li>
</ul>
</div>
<div id="outline-container-orgaed1086" class="outline-3">
<h3 id="orgaed1086"><span class="section-number-3">1.1.</span> Short Stroke</h3>
<div class="outline-text-3" id="text-1-1">
<p>
<a id="org239ceba"></a>
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Figure</th>
<th scope="col" class="org-left">Configuration</th>
<th scope="col" class="org-left">Joints</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Application</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">JPL</td>
<td class="org-left"><a href="fig:stewart_jpl">fig:stewart_jpl</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Voice Coil (0.5 mm)</td>
<td class="org-left">Force (collocated)</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="spanos95_soft_activ_vibrat_isolat">spanos95_soft_activ_vibrat_isolat</a>, <a href="rahman98_multiax">rahman98_multiax</a> Vibration Isolation (Space)</td>
</tr>
<tr>
<td class="org-left">Washinton, JPL</td>
<td class="org-left"><a href="fig:stewart_ht_uw">fig:stewart_ht_uw</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Elastomers</td>
<td class="org-left">Voice Coil (10 mm)</td>
<td class="org-left">Force, LVDT, Geophones</td>
<td class="org-left">Isolation + Pointing (Space)</td>
<td class="org-left"><a href="thayer98_stewar">thayer98_stewar</a>, <a href="thayer02_six_axis_vibrat_isolat_system">thayer02_six_axis_vibrat_isolat_system</a>, <a href="hauge04_sensor_contr_space_based_six">hauge04_sensor_contr_space_based_six</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left"><a href="fig:stewart_uw_gsp">fig:stewart_uw_gsp</a></td>
<td class="org-left">Cubic (CoM=CoK)</td>
<td class="org-left">Flexible</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="mcinroy99_dynam">mcinroy99_dynam</a>, <a href="mcinroy99_precis_fault_toler_point_using_stewar_platf">mcinroy99_precis_fault_toler_point_using_stewar_platf</a>, <a href="mcinroy00_desig_contr_flexur_joint_hexap">mcinroy00_desig_contr_flexur_joint_hexap</a>, <a href="li01_simul_vibrat_isolat_point_contr">li01_simul_vibrat_isolat_point_contr</a>, <a href="jafari03_orthog_gough_stewar_platf_microm">jafari03_orthog_gough_stewar_platf_microm</a></td>
</tr>
<tr>
<td class="org-left">Brussels</td>
<td class="org-left"><a href="fig:stewart_ulb_vc">fig:stewart_ulb_vc</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">Vibration Isolation</td>
<td class="org-left"><a href="hanieh03_activ_stewar">hanieh03_activ_stewar</a>, <a href="preumont07_six_axis_singl_stage_activ">preumont07_six_axis_singl_stage_activ</a></td>
</tr>
<tr>
<td class="org-left">SRDC</td>
<td class="org-left"><a href="fig:stewart_naval">fig:stewart_naval</a></td>
<td class="org-left">Not Cubic</td>
<td class="org-left">Ball joints</td>
<td class="org-left">Voice Coil (10 mm)</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="taranti01_effic_algor_vibrat_suppr">taranti01_effic_algor_vibrat_suppr</a></td>
</tr>
<tr>
<td class="org-left">SRDC</td>
<td class="org-left"><a href="fig:stewart_pph">fig:stewart_pph</a></td>
<td class="org-left">Non-Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometers, External metrology: Eddy Current + optical</td>
<td class="org-left">Pointing</td>
<td class="org-left"><a href="chen03_payload_point_activ_vibrat_isolat">chen03_payload_point_activ_vibrat_isolat</a></td>
</tr>
<tr>
<td class="org-left">Harbin (China)</td>
<td class="org-left"><a href="fig:stewart_tang18">fig:stewart_tang18</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer in each leg</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="chi15_desig_exper_study_vcm_based">chi15_desig_exper_study_vcm_based</a>, <a href="tang18_decen_vibrat_contr_voice_coil">tang18_decen_vibrat_contr_voice_coil</a>, <a href="jiao18_dynam_model_exper_analy_stewar">jiao18_dynam_model_exper_analy_stewar</a></td>
</tr>
<tr>
<td class="org-left">Einhoven</td>
<td class="org-left"><a href="fig:stewart_beijen">fig:stewart_beijen</a></td>
<td class="org-left">Almost cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force Sensor + Accelerometer</td>
<td class="org-left">Vibration Isolation</td>
<td class="org-left"><a href="beijen18_self_tunin_mimo_distur_feedf">beijen18_self_tunin_mimo_distur_feedf</a>, <a href="tjepkema12_activ_ph">tjepkema12_activ_ph</a></td>
</tr>
</tbody>
<tbody>
<tr>
<td class="org-left">JPL</td>
<td class="org-left"><a href="fig:stewart_geng">fig:stewart_geng</a></td>
<td class="org-left">Cubic (6-UPU)</td>
<td class="org-left">Flexible</td>
<td class="org-left">Magnetostrictive</td>
<td class="org-left">Force (collocated), Accelerometers</td>
<td class="org-left">Vibration Isolation</td>
<td class="org-left"><a href="geng93_six_degree_of_freed_activ">geng93_six_degree_of_freed_activ</a>, <a href="geng94_six_degree_of_freed_activ">geng94_six_degree_of_freed_activ</a>, <a href="geng95_intel_contr_system_multip_degree">geng95_intel_contr_system_multip_degree</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left"><a href="fig:stewart_zhang11">fig:stewart_zhang11</a></td>
<td class="org-left">Non-cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Magnetostrictive</td>
<td class="org-left">Inertial</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="zhang11_six_dof">zhang11_six_dof</a></td>
</tr>
</tbody>
<tbody>
<tr>
<td class="org-left">Brussels</td>
<td class="org-left"><a href="fig:stewart_ulb_pz">fig:stewart_ulb_pz</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric, Amplified</td>
<td class="org-left">Piezo Force</td>
<td class="org-left">Active Damping</td>
<td class="org-left"><a href="abu02_stiff_soft_stewar_platf_activ">abu02_stiff_soft_stewar_platf_activ</a></td>
</tr>
<tr>
<td class="org-left">SRDC</td>
<td class="org-left"><a href="fig:stewart_uqp">fig:stewart_uqp</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Piezoelectric (50 um)</td>
<td class="org-left">Geophone</td>
<td class="org-left">Vibration</td>
<td class="org-left"><a href="agrawal04_algor_activ_vibrat_isolat_spacec">agrawal04_algor_activ_vibrat_isolat_spacec</a></td>
</tr>
<tr>
<td class="org-left">Taiwan</td>
<td class="org-left"><a href="fig:stewart_nanoscale">fig:stewart_nanoscale</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric (120 um)</td>
<td class="org-left">External capacitive</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="ting06_desig_stewar_nanos_platf">ting06_desig_stewar_nanos_platf</a>, <a href="ting13_compos_contr_desig_stewar_nanos_platf">ting13_compos_contr_desig_stewar_nanos_platf</a></td>
</tr>
<tr>
<td class="org-left">Taiwan</td>
<td class="org-left"><a href="fig:stewart_ting07">fig:stewart_ting07</a></td>
<td class="org-left">Non-Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric (160 um)</td>
<td class="org-left">External capacitive (LION)</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="ting07_measur_calib_stewar_microm_system">ting07_measur_calib_stewar_microm_system</a></td>
</tr>
<tr>
<td class="org-left">Harbin (China)</td>
<td class="org-left"><a href="fig:stewart_du14">fig:stewart_du14</a></td>
<td class="org-left">6-SPS (Optimized)</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Strain Gauge</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="du14_piezo_actuat_high_precis_flexib">du14_piezo_actuat_high_precis_flexib</a></td>
</tr>
<tr>
<td class="org-left">Japan</td>
<td class="org-left"><a href="fig:stewart_furutani">fig:stewart_furutani</a></td>
<td class="org-left">Non-Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric (16 um)</td>
<td class="org-left">Eddy Current Displacement Sensors</td>
<td class="org-left">Cutting machine</td>
<td class="org-left"><a href="furutani04_nanom_cuttin_machin_using_stewar">furutani04_nanom_cuttin_machin_using_stewar</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left"><a href="fig:stewart_yang19">fig:stewart_yang19</a></td>
<td class="org-left">6-UPS (Cubic?)</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force, Position</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="yang19_dynam_model_decoup_contr_flexib">yang19_dynam_model_decoup_contr_flexib</a></td>
</tr>
<tr>
<td class="org-left">Shangai</td>
<td class="org-left"><a href="fig:stewart_wang16">fig:stewart_wang16</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force Sensor + Accelerometer</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="wang16_inves_activ_vibrat_isolat_stewar">wang16_inves_activ_vibrat_isolat_stewar</a></td>
</tr>
<tr>
<td class="org-left">Matra (France)</td>
<td class="org-left"><a href="fig:stewart_mais">fig:stewart_mais</a></td>
<td class="org-left">Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Piezoelectric (25 um)</td>
<td class="org-left">Piezo force sensors</td>
<td class="org-left">Vibration control</td>
<td class="org-left"><a href="defendini00_techn">defendini00_techn</a></td>
</tr>
</tbody>
<tbody>
<tr>
<td class="org-left">Japan</td>
<td class="org-left"><a href="fig:stewart_torii">fig:stewart_torii</a></td>
<td class="org-left">Non-Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">Inchworm</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="torii12_small_size_self_propel_stewar_platf">torii12_small_size_self_propel_stewar_platf</a></td>
</tr>
<tr>
<td class="org-left">Netherlands</td>
<td class="org-left"><a href="fig:stewart_naves">fig:stewart_naves</a></td>
<td class="org-left">Non-Cubic</td>
<td class="org-left">Flexible</td>
<td class="org-left">3-phase rotary motor</td>
<td class="org-left">Rotary Encoders</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="&amp;naves20_desig;&amp;naves20_t_flex">&amp;naves20_desig;&amp;naves20_t_flex</a></td>
</tr>
</tbody>
</table>
<div id="orgf77f900" class="figure">
<p><img src="figs/stewart_examples/stewart_naves.jpg" alt="stewart_naves.jpg" />
</p>
<p><span class="figure-number">Figure 1: </span>T-flex <a href="&amp;naves20_desig">&amp;naves20_desig</a></p>
</div>
<div id="org1b33a25" class="figure">
<p><img src="figs/stewart_examples/stewart_naval.jpg" alt="stewart_naval.jpg" />
</p>
<p><span class="figure-number">Figure 2: </span><a href="&amp;taranti01_effic_algor_vibrat_suppr">&amp;taranti01_effic_algor_vibrat_suppr</a></p>
</div>
<div id="org772e427" class="figure">
<p><img src="figs/stewart_examples/stewart_mais.jpg" alt="stewart_mais.jpg" />
</p>
<p><span class="figure-number">Figure 3: </span><a href="&amp;defendini00_techn">&amp;defendini00_techn</a></p>
</div>
<div id="org7665ec9" class="figure">
<p><img src="figs/stewart_examples/stewart_geng.jpg" alt="stewart_geng.jpg" />
</p>
<p><span class="figure-number">Figure 4: </span><a href="&amp;geng94_six_degree_of_freed_activ">&amp;geng94_six_degree_of_freed_activ</a></p>
</div>
<div id="org8aa1104" class="figure">
<p><img src="figs/stewart_examples/stewart_jpl.jpg" alt="stewart_jpl.jpg" />
</p>
<p><span class="figure-number">Figure 5: </span><a href="&amp;spanos95_soft_activ_vibrat_isolat">&amp;spanos95_soft_activ_vibrat_isolat</a></p>
</div>
<div id="org5e3a33b" class="figure">
<p><img src="figs/stewart_examples/stewart_furutani.jpg" alt="stewart_furutani.jpg" />
</p>
<p><span class="figure-number">Figure 6: </span><a href="&amp;furutani04_nanom_cuttin_machin_using_stewar">&amp;furutani04_nanom_cuttin_machin_using_stewar</a></p>
</div>
<div id="org3b6ee3b" class="figure">
<p><img src="figs/stewart_examples/stewart_torii.jpg" alt="stewart_torii.jpg" />
</p>
<p><span class="figure-number">Figure 7: </span><a href="&amp;torii12_small_size_self_propel_stewar_platf">&amp;torii12_small_size_self_propel_stewar_platf</a></p>
</div>
<div id="orgee022c8" class="figure">
<p><img src="figs/stewart_examples/stewart_wang16.jpg" alt="stewart_wang16.jpg" />
</p>
<p><span class="figure-number">Figure 8: </span><a href="&amp;wang16_inves_activ_vibrat_isolat_stewar">&amp;wang16_inves_activ_vibrat_isolat_stewar</a></p>
</div>
<div id="org5a99fb4" class="figure">
<p><img src="figs/stewart_examples/stewart_beijen.jpg" alt="stewart_beijen.jpg" />
</p>
<p><span class="figure-number">Figure 9: </span><a href="&amp;beijen18_self_tunin_mimo_distur_feedf">&amp;beijen18_self_tunin_mimo_distur_feedf</a></p>
</div>
<div id="orgc14b029" class="figure">
<p><img src="figs/stewart_examples/stewart_zhang11.jpg" alt="stewart_zhang11.jpg" />
</p>
<p><span class="figure-number">Figure 10: </span><a href="&amp;zhang11_six_dof">&amp;zhang11_six_dof</a></p>
</div>
<div id="orgf767022" class="figure">
<p><img src="figs/stewart_examples/stewart_yang19.jpg" alt="stewart_yang19.jpg" />
</p>
<p><span class="figure-number">Figure 11: </span><a href="&amp;yang19_dynam_model_decoup_contr_flexib">&amp;yang19_dynam_model_decoup_contr_flexib</a></p>
</div>
<div id="orge6594a8" class="figure">
<p><img src="figs/stewart_examples/stewart_du14.jpg" alt="stewart_du14.jpg" />
</p>
<p><span class="figure-number">Figure 12: </span><a href="&amp;du14_piezo_actuat_high_precis_flexib">&amp;du14_piezo_actuat_high_precis_flexib</a></p>
</div>
<div id="org56952f1" class="figure">
<p><img src="figs/stewart_examples/stewart_tang18.jpg" alt="stewart_tang18.jpg" />
</p>
<p><span class="figure-number">Figure 13: </span><a href="&amp;tang18_decen_vibrat_contr_voice_coil">&amp;tang18_decen_vibrat_contr_voice_coil</a></p>
</div>
<div id="orgbf91458" class="figure">
<p><img src="figs/stewart_examples/stewart_nanoscale.jpg" alt="stewart_nanoscale.jpg" />
</p>
<p><span class="figure-number">Figure 14: </span><a href="&amp;ting06_desig_stewar_nanos_platf">&amp;ting06_desig_stewar_nanos_platf</a></p>
</div>
<div id="orgfb9b26c" class="figure">
<p><img src="figs/stewart_examples/stewart_ting07.jpg" alt="stewart_ting07.jpg" />
</p>
<p><span class="figure-number">Figure 15: </span><a href="&amp;ting07_measur_calib_stewar_microm_system">&amp;ting07_measur_calib_stewar_microm_system</a></p>
</div>
<div id="org5507924" class="figure">
<p><img src="figs/stewart_examples/stewart_ht_uw.jpg" alt="stewart_ht_uw.jpg" />
</p>
<p><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="&amp;thayer02_six_axis_vibrat_isolat_system">&amp;thayer02_six_axis_vibrat_isolat_system</a></p>
</div>
<div id="org69e6801" class="figure">
<p><img src="figs/stewart_examples/stewart_uw_gsp.jpg" alt="stewart_uw_gsp.jpg" />
</p>
<p><span class="figure-number">Figure 17: </span>UW GSP: Mutually Orthogonal Stewart Geometry <a href="&amp;li01_simul_fault_vibrat_isolat_point">&amp;li01_simul_fault_vibrat_isolat_point</a></p>
</div>
<div id="orgdcf43a3" class="figure">
<p><img src="figs/stewart_examples/stewart_pph.jpg" alt="stewart_pph.jpg" />
</p>
<p><span class="figure-number">Figure 18: </span>Precision Pointing Hexapod (PPH) <a href="&amp;chen03_payload_point_activ_vibrat_isolat">&amp;chen03_payload_point_activ_vibrat_isolat</a></p>
</div>
<div id="org727712b" class="figure">
<p><img src="figs/stewart_examples/stewart_uqp.jpg" alt="stewart_uqp.jpg" />
</p>
<p><span class="figure-number">Figure 19: </span>Ultra Quiet Platform (UQP) <a href="&amp;agrawal04_algor_activ_vibrat_isolat_spacec">&amp;agrawal04_algor_activ_vibrat_isolat_spacec</a></p>
</div>
<div id="orgecf312d" class="figure">
<p><img src="figs/stewart_examples/stewart_ulb_pz.jpg" alt="stewart_ulb_pz.jpg" />
</p>
<p><span class="figure-number">Figure 20: </span>ULB - Piezoelectric <a href="&amp;abu02_stiff_soft_stewar_platf_activ">&amp;abu02_stiff_soft_stewar_platf_activ</a></p>
</div>
<div id="org29a627e" class="figure">
<p><img src="figs/stewart_examples/stewart_ulb_vc.jpg" alt="stewart_ulb_vc.jpg" />
</p>
<p><span class="figure-number">Figure 21: </span>ULB - Voice Coil <a href="&amp;hanieh03_activ_stewar">&amp;hanieh03_activ_stewar</a></p>
</div>
</div>
</div>
<div id="outline-container-orgd09724e" class="outline-3">
<h3 id="orgd09724e"><span class="section-number-3">1.2.</span> Long Stroke</h3>
<div class="outline-text-3" id="text-1-2">
<p>
<a id="orgb1ac189"></a>
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Figure</th>
<th scope="col" class="org-left">Configuration</th>
<th scope="col" class="org-left">Joints</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Japan</td>
<td class="org-left"><a href="fig:stewart_cleary">fig:stewart_cleary</a></td>
<td class="org-left">6-UPS</td>
<td class="org-left">Conventional</td>
<td class="org-left">DC, gear + rack pinion</td>
<td class="org-left">Encoder, 7um res</td>
<td class="org-left"><a href="cleary91_protot_paral_manip">cleary91_protot_paral_manip</a></td>
</tr>
<tr>
<td class="org-left">Seoul</td>
<td class="org-left"><a href="fig:stewart_kim00">fig:stewart_kim00</a></td>
<td class="org-left">Non-Cubic</td>
<td class="org-left">Conventional</td>
<td class="org-left">Hydraulic</td>
<td class="org-left">LVDT</td>
<td class="org-left"><a href="kim00_robus_track_contr_desig_dof_paral_manip">kim00_robus_track_contr_desig_dof_paral_manip</a></td>
</tr>
<tr>
<td class="org-left">Xidian (China)</td>
<td class="org-left"><a href="fig:stewart_su04">fig:stewart_su04</a></td>
<td class="org-left">Non-Cubic</td>
<td class="org-left">Conventional</td>
<td class="org-left">Servo Motor + Screwball</td>
<td class="org-left">Encoder</td>
<td class="org-left"><a href="su04_distur_rejec_high_precis_motion">su04_distur_rejec_high_precis_motion</a></td>
</tr>
<tr>
<td class="org-left">Czech</td>
<td class="org-left"><a href="fig:stewart_czech">fig:stewart_czech</a></td>
<td class="org-left">6-UPS</td>
<td class="org-left">Conventional</td>
<td class="org-left">DC, Ball Screw</td>
<td class="org-left">Absolute Linear position</td>
<td class="org-left"><a href="brezina08_ni_labview_matlab_simmec_stewar_platf_desig">brezina08_ni_labview_matlab_simmec_stewar_platf_desig</a>, <a href="houska10_desig_implem_absol_linear_posit">houska10_desig_implem_absol_linear_posit</a>, <a href="brezina10_contr_desig_stewar_platf_linear_actuat">brezina10_contr_desig_stewar_platf_linear_actuat</a></td>
</tr>
</tbody>
</table>
<div id="org77a00cc" class="figure">
<p><img src="figs/stewart_examples/stewart_cleary.jpg" alt="stewart_cleary.jpg" />
</p>
<p><span class="figure-number">Figure 22: </span><a href="&amp;cleary91_protot_paral_manip">&amp;cleary91_protot_paral_manip</a></p>
</div>
<div id="org06528eb" class="figure">
<p><img src="figs/stewart_examples/stewart_kim00.jpg" alt="stewart_kim00.jpg" />
</p>
<p><span class="figure-number">Figure 23: </span><a href="&amp;kim01_six">&amp;kim01_six</a></p>
</div>
<div id="org2e4302f" class="figure">
<p><img src="figs/stewart_examples/stewart_su04.jpg" alt="stewart_su04.jpg" />
</p>
<p><span class="figure-number">Figure 24: </span><a href="&amp;su04_distur_rejec_high_precis_motion">&amp;su04_distur_rejec_high_precis_motion</a></p>
</div>
<div id="org1324a79" class="figure">
<p><img src="figs/stewart_examples/stewart_czech.jpg" alt="stewart_czech.jpg" />
</p>
<p><span class="figure-number">Figure 25: </span>Stewart platform from Brno University (Czech) <a href="&amp;brezina08_ni_labview_matlab_simmec_stewar_platf_desig">&amp;brezina08_ni_labview_matlab_simmec_stewar_platf_desig</a></p>
</div>
</div>
</div>
</div>
<div id="outline-container-org6474ab8" class="outline-2">
<h2 id="org6474ab8"><span class="section-number-2">2.</span> Articles - Design Related</h2>
<div class="outline-text-2" id="text-2">
<p>
<a id="org5c881ef"></a>
</p>
<ul class="org-ul">
<li>Flexible joints (Section <a href="sec:design_flexure">sec:design_flexure</a>)</li>
<li>Specific geometry to have good decoupling properties (Section <a href="sec:design_decoupling">sec:design_decoupling</a>)</li>
<li>Alternative architectures for 6DoF parallel mechanisms (Section <a href="sec:design_architecture">sec:design_architecture</a>)</li>
<li>Workspace (Section <a href="sec:design_workspace">sec:design_workspace</a>)</li>
<li>Modelling (Section <a href="sec:design_modelling">sec:design_modelling</a>)</li>
</ul>
</div>
<div id="outline-container-orga1df8ae" class="outline-3">
<h3 id="orga1df8ae"><span class="section-number-3">2.1.</span> Flexures</h3>
<div class="outline-text-3" id="text-2-1">
<p>
<a id="orgdc459ef"></a>
</p>
<p>
From <a href="&amp;hauge04_sensor_contr_space_based_six">&amp;hauge04_sensor_contr_space_based_six</a>:
</p>
<blockquote>
<p>
Elastomer flexures, rather than steel, reduce lateral stiffness and improve passive performance at payload resonance (damping) and at frequencies greater than 100 Hz.
</p>
</blockquote>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Effect of flexures</td>
<td class="org-left"><a href="mcinroy02_model_desig_flexur_joint_stewar">mcinroy02_model_desig_flexur_joint_stewar</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-orgc15d713" class="outline-3">
<h3 id="orgc15d713"><span class="section-number-3">2.2.</span> Decoupling</h3>
<div class="outline-text-3" id="text-2-2">
<p>
<a id="org4e864b8"></a>
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Geometry for decoupling (CoM, CoK)</td>
<td class="org-left"><a href="mcinroy00_desig_contr_flexur_joint_hexap">mcinroy00_desig_contr_flexur_joint_hexap</a></td>
</tr>
<tr>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="afzali-far16_vibrat_dynam_isotr_hexap_analy_studies">afzali-far16_vibrat_dynam_isotr_hexap_analy_studies</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org4384854" class="outline-3">
<h3 id="org4384854"><span class="section-number-3">2.3.</span> Alternative Architectures</h3>
<div class="outline-text-3" id="text-2-3">
<p>
<a id="org007243f"></a>
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Figure</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left"><a href="fig:stewart_dong07">fig:stewart_dong07</a></td>
<td class="org-left"><a href="dong08_stiff_resear_high_precis_large">dong08_stiff_resear_high_precis_large</a>, <a href="dong07_desig_precis_compl_paral_posit">dong07_desig_precis_compl_paral_posit</a></td>
</tr>
<tr>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="kim09_desig_model_novel_precis_micro_stage">kim09_desig_model_novel_precis_micro_stage</a></td>
</tr>
<tr>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="yun10_desig_analy_novel_redun_actuat">yun10_desig_analy_novel_redun_actuat</a></td>
</tr>
<tr>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="gao02_necw_kinem_struc_paral_manip_desig">gao02_necw_kinem_struc_paral_manip_desig</a></td>
</tr>
<tr>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="horin06_singul_condit_six_degree_of">horin06_singul_condit_six_degree_of</a></td>
</tr>
</tbody>
</table>
<div id="org1f1534b" class="figure">
<p><img src="figs/stewart_examples/stewart_dong07.jpg" alt="stewart_dong07.jpg" />
</p>
<p><span class="figure-number">Figure 26: </span><a href="&amp;dong07_desig_precis_compl_paral_posit">&amp;dong07_desig_precis_compl_paral_posit</a></p>
</div>
</div>
</div>
<div id="outline-container-org8ff5082" class="outline-3">
<h3 id="org8ff5082"><span class="section-number-3">2.4.</span> Workspace</h3>
<div class="outline-text-3" id="text-2-4">
<p>
<a id="org3c54587"></a>
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Compute orientation</td>
<td class="org-left"><a href="bonev01_new_approac_to_orien_works">bonev01_new_approac_to_orien_works</a></td>
</tr>
<tr>
<td class="org-left">Reachable Workspace</td>
<td class="org-left"><a href="pernkopf06_works_analy_stewar_gough_type_paral_manip">pernkopf06_works_analy_stewar_gough_type_paral_manip</a></td>
</tr>
<tr>
<td class="org-left">Determination of the max. singularity free workspace</td>
<td class="org-left"><a href="jiang09_deter_maxim_singul_free_orien">jiang09_deter_maxim_singul_free_orien</a></td>
</tr>
<tr>
<td class="org-left">Orientation Workspace</td>
<td class="org-left"><a href="jiang09_evaluat_repres_theor_orien_works">jiang09_evaluat_repres_theor_orien_works</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-orga4bfe6b" class="outline-3">
<h3 id="orga4bfe6b"><span class="section-number-3">2.5.</span> Modelling</h3>
<div class="outline-text-3" id="text-2-5">
<p>
<a id="org4d2d670"></a>
</p>
</div>
<div id="outline-container-org14cbf7d" class="outline-4">
<h4 id="org14cbf7d"><span class="section-number-4">2.5.1.</span> Multi Body</h4>
</div>
<div id="outline-container-orga7b7177" class="outline-4">
<h4 id="orga7b7177"><span class="section-number-4">2.5.2.</span> Analytical</h4>
</div>
<div id="outline-container-org2335fb1" class="outline-4">
<h4 id="org2335fb1"><span class="section-number-4">2.5.3.</span> Lumped</h4>
</div>
</div>
</div>
<div id="outline-container-org9c5d9bd" class="outline-2">
<h2 id="org9c5d9bd"><span class="section-number-2">3.</span> Control</h2>
<div class="outline-text-2" id="text-3">
<p>
<a id="orge3c70b2"></a>
</p>
<p>
Different control objectives:
</p>
<ul class="org-ul">
<li>Vibration Control (Section <a href="sec:control_isolation">sec:control_isolation</a>)</li>
<li>Position Control (Section <a href="sec:control_position">sec:control_position</a>)</li>
</ul>
<p>
Sometimes, the two objectives are simultaneous, in that case multiple sensors needs to be combined in the control architecture (Section <a href="sec:control_multi_sensor">sec:control_multi_sensor</a>).
</p>
<p>
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 <a href="sec:control_decoupling">sec:control_decoupling</a>).
</p>
</div>
<div id="outline-container-orgf322706" class="outline-3">
<h3 id="orgf322706"><span class="section-number-3">3.1.</span> Vibration Control and Active Damping</h3>
<div class="outline-text-3" id="text-3-1">
<p>
<a id="org5a98432"></a>
</p>
<p>
From <a href="&amp;hauge04_sensor_contr_space_based_six">&amp;hauge04_sensor_contr_space_based_six</a>:
</p>
<blockquote>
<p>
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.
</p>
</blockquote>
</div>
<div id="outline-container-org179ac0b" class="outline-4">
<h4 id="org179ac0b"><span class="section-number-4">3.1.1.</span> Integral Force Feedback</h4>
<div class="outline-text-4" id="text-3-1-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">JPL</td>
<td class="org-left">Magnetostrictive</td>
<td class="org-left">Force (collocated), Accelerometers</td>
<td class="org-left">Two layers: Decentralized IFF, Robust Adaptive Control</td>
<td class="org-left">Two layer control for active damping and vibration isolation</td>
<td class="org-left"><a href="geng95_intel_contr_system_multip_degree">geng95_intel_contr_system_multip_degree</a></td>
</tr>
<tr>
<td class="org-left">JPL</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force (collocated)</td>
<td class="org-left">Decentralized IFF</td>
<td class="org-left">Decentralized force feedback to reduce the transmissibility</td>
<td class="org-left"><a href="spanos95_soft_activ_vibrat_isolat">spanos95_soft_activ_vibrat_isolat</a>, <a href="rahman98_multiax">rahman98_multiax</a></td>
</tr>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force, LVDT, Geophones</td>
<td class="org-left">LQG, Force + geophones for vibration, LVDT for pointing</td>
<td class="org-left">Centralized control is no better than decentralized. Geophone + Force MISO control is good</td>
<td class="org-left"><a href="thayer98_stewar">thayer98_stewar</a>, <a href="thayer02_six_axis_vibrat_isolat_system">thayer02_six_axis_vibrat_isolat_system</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">Centralized (cartesian) IFF</td>
<td class="org-left">Difficult to decouple in practice</td>
<td class="org-left"><a href="obrien98_lesson">obrien98_lesson</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">IFF, centralized (decouple) + decentralized (coupled)</td>
<td class="org-left">Specific geometry: decoupled force plant. Better perf with centralized IFF</td>
<td class="org-left"><a href="mcinroy99_dynam">mcinroy99_dynam</a>, <a href="mcinroy99_precis_fault_toler_point_using_stewar_platf">mcinroy99_precis_fault_toler_point_using_stewar_platf</a>, <a href="mcinroy00_desig_contr_flexur_joint_hexap">mcinroy00_desig_contr_flexur_joint_hexap</a></td>
</tr>
<tr>
<td class="org-left">Brussels</td>
<td class="org-left">APA</td>
<td class="org-left">Piezo force sensor</td>
<td class="org-left">Decentralized IFF</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="abu02_stiff_soft_stewar_platf_activ">abu02_stiff_soft_stewar_platf_activ</a></td>
</tr>
<tr>
<td class="org-left">Brussels</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force Sensor</td>
<td class="org-left">Decentralized IFF</td>
<td class="org-left">Effect of flexible joints</td>
<td class="org-left"><a href="preumont07_six_axis_singl_stage_activ">preumont07_six_axis_singl_stage_activ</a></td>
</tr>
<tr>
<td class="org-left">Shangai</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force Sensor + Accelerometer</td>
<td class="org-left">Vibration isolation, HAC-LAC (IFF + FxLMS)</td>
<td class="org-left">Dynamic Model + Vibration Control</td>
<td class="org-left"><a href="wang16_inves_activ_vibrat_isolat_stewar">wang16_inves_activ_vibrat_isolat_stewar</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Decentralized IFF</td>
<td class="org-left">Design cubic configuration to have same modal frequencies: optimal damping of all modes</td>
<td class="org-left"><a href="yang17_dynam_isotr_desig_decen_activ">yang17_dynam_isotr_desig_decen_activ</a></td>
</tr>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">Decentralized IFF</td>
<td class="org-left">Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero</td>
<td class="org-left"><a href="hauge04_sensor_contr_space_based_six">hauge04_sensor_contr_space_based_six</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force, Position</td>
<td class="org-left">Vibration isolation, Model-Based, Modal control: 6x PI controllers</td>
<td class="org-left">Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space</td>
<td class="org-left"><a href="yang19_dynam_model_decoup_contr_flexib">yang19_dynam_model_decoup_contr_flexib</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org7d6c27b" class="outline-4">
<h4 id="org7d6c27b"><span class="section-number-4">3.1.2.</span> Sky-Hood Damping</h4>
<div class="outline-text-4" id="text-3-1-2">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer (collocated), ext. Rx/Ry sensors</td>
<td class="org-left">Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor)</td>
<td class="org-left">Decoupling, both vibration + pointing control</td>
<td class="org-left"><a href="li01_simul_vibrat_isolat_point_contr">li01_simul_vibrat_isolat_point_contr</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Geophone + Eddy Current (Struts, collocated)</td>
<td class="org-left">Decentralized (Sky Hook) + Centralized (modal) Control</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="pu11_six_degree_of_freed_activ">pu11_six_degree_of_freed_activ</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer in each leg</td>
<td class="org-left">Centralized Vibration Control, PI, Skyhook</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="abbas14_vibrat_stewar_platf">abbas14_vibrat_stewar_platf</a></td>
</tr>
<tr>
<td class="org-left">Einhoven</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">6dof Accelerometers on mobile and fixed platforms</td>
<td class="org-left">Self learning feedforward (FIR), Centralized MIMO feedback (sky hood damping)</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="beijen18_self_tunin_mimo_distur_feedf">beijen18_self_tunin_mimo_distur_feedf</a></td>
</tr>
<tr>
<td class="org-left">Harbin (China)</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer in each leg</td>
<td class="org-left">Decentralized vibration control</td>
<td class="org-left">Vibration Control with VCM and Decentralized control</td>
<td class="org-left"><a href="tang18_decen_vibrat_contr_voice_coil">tang18_decen_vibrat_contr_voice_coil</a></td>
</tr>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Geophones</td>
<td class="org-left">Decentralized Inertial Feedback</td>
<td class="org-left">Centralized control is no better than decentralized. Geophone + Force MISO control is good</td>
<td class="org-left"><a href="thayer02_six_axis_vibrat_isolat_system">thayer02_six_axis_vibrat_isolat_system</a></td>
</tr>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Geophones</td>
<td class="org-left">Decentralized Sky Hood Damping</td>
<td class="org-left">Comparison of force sensor and inertial sensors</td>
<td class="org-left"><a href="hauge04_sensor_contr_space_based_six">hauge04_sensor_contr_space_based_six</a></td>
</tr>
<tr>
<td class="org-left">Harbin (China)</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometers</td>
<td class="org-left">MIMO H-Infinity, active damping</td>
<td class="org-left">Model + active damping with flexible hinges</td>
<td class="org-left"><a href="jiao18_dynam_model_exper_analy_stewar">jiao18_dynam_model_exper_analy_stewar</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org53e0a02" class="outline-4">
<h4 id="org53e0a02"><span class="section-number-4">3.1.3.</span> Vibration Control of Narrowband Disturbances</h4>
<div class="outline-text-4" id="text-3-1-3">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">JPL</td>
<td class="org-left">Magnetostrictive</td>
<td class="org-left">Force, Accelerometers</td>
<td class="org-left">Robust Adaptive Filter</td>
<td class="org-left">Hardware implementation</td>
<td class="org-left"><a href="geng93_six_degree_of_freed_activ">geng93_six_degree_of_freed_activ</a>, <a href="geng94_six_degree_of_freed_activ">geng94_six_degree_of_freed_activ</a></td>
</tr>
<tr>
<td class="org-left">SRDC</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">LMS with FIR (feedforward), disturbance rejection, Decentralized (struts) PID</td>
<td class="org-left">Rejection of narrowband periodic disturbances</td>
<td class="org-left"><a href="chen03_payload_point_activ_vibrat_isolat">chen03_payload_point_activ_vibrat_isolat</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Adaptive sinusoidal disturbance (Phase Lock Loop)</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="lin03_adapt_sinus_distur_cancel_precis">lin03_adapt_sinus_distur_cancel_precis</a></td>
</tr>
<tr>
<td class="org-left">SRDC</td>
<td class="org-left">Piezo</td>
<td class="org-left">Geophone (collocated)</td>
<td class="org-left">&ldquo;multiple error LMS&rdquo; (require measured disturbance) vs &ldquo;clear box&rdquo;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="agrawal04_algor_activ_vibrat_isolat_spacec">agrawal04_algor_activ_vibrat_isolat_spacec</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Magnetostrictive</td>
<td class="org-left">Inertial</td>
<td class="org-left">Sinusoidal vibration, adaptive filters (LMS)</td>
<td class="org-left">Design and Control of flexure joint Hexapods</td>
<td class="org-left"><a href="zhang11_six_dof">zhang11_six_dof</a></td>
</tr>
<tr>
<td class="org-left">Shangai</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force Sensor + Accelerometer</td>
<td class="org-left">Vibration isolation, HAC-LAC (IFF + FxLMS)</td>
<td class="org-left">Dynamic Model + Vibration Control</td>
<td class="org-left"><a href="wang16_inves_activ_vibrat_isolat_stewar">wang16_inves_activ_vibrat_isolat_stewar</a></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
<div id="outline-container-org43ad70b" class="outline-3">
<h3 id="org43ad70b"><span class="section-number-3">3.2.</span> Position Control</h3>
<div class="outline-text-3" id="text-3-2">
<p>
<a id="org05ff97f"></a>
</p>
<p>
Here, the objective is to <i>position</i> the mobile platform with respect to an external metrology or internal metrology.
</p>
<p>
Control Strategy:
</p>
<ul class="org-ul">
<li>Decentralized P, PI or PID</li>
<li>LQR, LQG</li>
<li>H-Infinity</li>
<li>Two Layer</li>
</ul>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Modelling</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force, LVDT, Geophones</td>
<td class="org-left">LQG, Force + geophones for vibration, LVDT for pointing</td>
<td class="org-left">FEM =&gt; State Space</td>
<td class="org-left">Centralized control is no better than decentralized. Geophone + Force MISO control is good</td>
<td class="org-left"><a href="thayer98_stewar">thayer98_stewar</a>, <a href="thayer02_six_axis_vibrat_isolat_system">thayer02_six_axis_vibrat_isolat_system</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force, LVDT</td>
<td class="org-left">IFF, centralized (decouple) + decentralized (coupled)</td>
<td class="org-left">Lumped</td>
<td class="org-left">Specific geometry: decoupled force plant. Better perf with centralized IFF</td>
<td class="org-left"><a href="mcinroy99_dynam">mcinroy99_dynam</a>, <a href="mcinroy99_precis_fault_toler_point_using_stewar_platf">mcinroy99_precis_fault_toler_point_using_stewar_platf</a>, <a href="mcinroy00_desig_contr_flexur_joint_hexap">mcinroy00_desig_contr_flexur_joint_hexap</a></td>
</tr>
<tr>
<td class="org-left">Seoul</td>
<td class="org-left">Hydraulic</td>
<td class="org-left">LVDT</td>
<td class="org-left">Decentralized (strut) vs Centralized (cartesian)</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="kim00_robus_track_contr_desig_dof_paral_manip">kim00_robus_track_contr_desig_dof_paral_manip</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer (collocated), ext. Rx/Ry sensors</td>
<td class="org-left">Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor)</td>
<td class="org-left">Analytical equations</td>
<td class="org-left">Decoupling, both vibration + pointing control</td>
<td class="org-left"><a href="li01_simul_vibrat_isolat_point_contr">li01_simul_vibrat_isolat_point_contr</a></td>
</tr>
<tr>
<td class="org-left">Japan</td>
<td class="org-left">APA</td>
<td class="org-left">Eddy current displacement</td>
<td class="org-left">Decentralized (struts) PI + LPF control</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="furutani04_nanom_cuttin_machin_using_stewar">furutani04_nanom_cuttin_machin_using_stewar</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Geophone + Eddy Current (Struts, collocated)</td>
<td class="org-left">Decentralized (Sky Hook) + Centralized (modal) Control</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="pu11_six_degree_of_freed_activ">pu11_six_degree_of_freed_activ</a></td>
</tr>
<tr>
<td class="org-left">Harbin (China)</td>
<td class="org-left">PZT Piezo</td>
<td class="org-left">Strain Gauge</td>
<td class="org-left">Decentralized position feedback</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Workspace, Stiffness analyzed</td>
<td class="org-left"><a href="du14_piezo_actuat_high_precis_flexib">du14_piezo_actuat_high_precis_flexib</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Leg length</td>
<td class="org-left">Tracking control, ADRC, State observer</td>
<td class="org-left">Analytical</td>
<td class="org-left">Use of ADRC for tracking control of cubic hexapod</td>
<td class="org-left"><a href="min19_high_precis_track_cubic_stewar">min19_high_precis_track_cubic_stewar</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force, Position</td>
<td class="org-left">Vibration isolation, Model-Based, Modal control: 6x PI controllers</td>
<td class="org-left">Solid/Flexible</td>
<td class="org-left">Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space</td>
<td class="org-left"><a href="yang19_dynam_model_decoup_contr_flexib">yang19_dynam_model_decoup_contr_flexib</a></td>
</tr>
</tbody>
</table>
<p>
From: <a href="yang19_dynam_model_decoup_contr_flexib">yang19_dynam_model_decoup_contr_flexib</a>:
</p>
<blockquote>
<p>
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.
</p>
</blockquote>
</div>
</div>
<div id="outline-container-org7c248fb" class="outline-3">
<h3 id="org7c248fb"><span class="section-number-3">3.3.</span> Multi Sensor Control</h3>
<div class="outline-text-3" id="text-3-3">
<p>
<a id="org3ddf00c"></a>
</p>
<p>
Improvement by the use of several sensors:
</p>
<ul class="org-ul">
<li>HAC-LAC</li>
<li>Two sensor control</li>
<li>Sensor Fusion</li>
</ul>
<p>
Comparison between &ldquo;two sensor control&rdquo; and &ldquo;sensor fusion&rdquo; is given in <a href="&amp;beijen14_two_sensor_contr_activ_vibrat">&amp;beijen14_two_sensor_contr_activ_vibrat</a>.
</p>
</div>
<div id="outline-container-orge99221e" class="outline-4">
<h4 id="orge99221e"><span class="section-number-4">3.3.1.</span> Two sensor control</h4>
<div class="outline-text-4" id="text-3-3-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force and Inertial</td>
<td class="org-left">LQG, Decentralized, Sensor Fusion</td>
<td class="org-left">Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero</td>
<td class="org-left"><a href="hauge04_sensor_contr_space_based_six">hauge04_sensor_contr_space_based_six</a></td>
</tr>
<tr>
<td class="org-left">Netherlands</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Sensor Fusion, Two Sensor Control</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="tjepkema12_activ_ph">tjepkema12_activ_ph</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org3894865" class="outline-4">
<h4 id="org3894865"><span class="section-number-4">3.3.2.</span> HAC-LAC</h4>
<div class="outline-text-4" id="text-3-3-2">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">JPL</td>
<td class="org-left">Magnetostrictive</td>
<td class="org-left">Force (collocated), Accelerometers</td>
<td class="org-left">Two layers: Decentralized IFF, Robust Adaptive Control</td>
<td class="org-left">Two layer control for active damping and vibration isolation</td>
<td class="org-left"><a href="geng95_intel_contr_system_multip_degree">geng95_intel_contr_system_multip_degree</a></td>
</tr>
<tr>
<td class="org-left">Shangai</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force Sensor + Accelerometer</td>
<td class="org-left">Vibration isolation, HAC-LAC (IFF + FxLMS)</td>
<td class="org-left">Dynamic Model + Vibration Control</td>
<td class="org-left"><a href="wang16_inves_activ_vibrat_isolat_stewar">wang16_inves_activ_vibrat_isolat_stewar</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer (collocated), ext. Rx/Ry sensors</td>
<td class="org-left">Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor)</td>
<td class="org-left">Decoupling, both vibration + pointing control</td>
<td class="org-left"><a href="li01_simul_vibrat_isolat_point_contr">li01_simul_vibrat_isolat_point_contr</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Geophone + Eddy Current (Struts, collocated)</td>
<td class="org-left">Decentralized (Sky Hook) + Centralized (modal) Control</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="pu11_six_degree_of_freed_activ">pu11_six_degree_of_freed_activ</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force sensors (strus) + accelerometer (cartesian)</td>
<td class="org-left">Decentralized Force Feedback + Centralized H2 control based on accelerometers</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="xie17_model_contr_hybrid_passiv_activ">xie17_model_contr_hybrid_passiv_activ</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org31bec31" class="outline-4">
<h4 id="org31bec31"><span class="section-number-4">3.3.3.</span> Sensor Fusion</h4>
<div class="outline-text-4" id="text-3-3-3">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">Netherlands</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force (HF) and Inertial (LF)</td>
<td class="org-left">Sensor Fusion, Two Sensor Control</td>
<td class="org-left">&#xa0;</td>
<td class="org-left"><a href="tjepkema12_activ_ph">tjepkema12_activ_ph</a>, <a href="tjepkema12_sensor_fusion_activ_vibrat_isolat_precis_equip">tjepkema12_sensor_fusion_activ_vibrat_isolat_precis_equip</a></td>
</tr>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force (HF) and Inertial (LF)</td>
<td class="org-left">LQG, Decentralized, Sensor Fusion</td>
<td class="org-left">Combine force/inertial sensors. Comparison of force sensor and inertial sensors. Issue on non-minimum phase zero</td>
<td class="org-left"><a href="hauge04_sensor_contr_space_based_six">hauge04_sensor_contr_space_based_six</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org8005615" class="outline-4">
<h4 id="org8005615"><span class="section-number-4">3.3.4.</span> Other Strategies</h4>
<div class="outline-text-4" id="text-3-3-4">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
<th scope="col" class="org-left">Link to bibliography</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left">China</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force, Position</td>
<td class="org-left">Vibration isolation, Model-Based, Modal control: 6x PI controllers</td>
<td class="org-left">Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space</td>
<td class="org-left"><a href="yang19_dynam_model_decoup_contr_flexib">yang19_dynam_model_decoup_contr_flexib</a></td>
</tr>
<tr>
<td class="org-left">Washinton</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force, LVDT, Geophones</td>
<td class="org-left">LQG, Force + geophones for vibration, LVDT for pointing</td>
<td class="org-left">Centralized control is no better than decentralized. Geophone + Force MISO control is good</td>
<td class="org-left"><a href="thayer98_stewar">thayer98_stewar</a>, <a href="thayer02_six_axis_vibrat_isolat_system">thayer02_six_axis_vibrat_isolat_system</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">IFF, centralized (decouple) + decentralized (coupled)</td>
<td class="org-left">Specific geometry: decoupled force plant. Better perf with centralized IFF</td>
<td class="org-left"><a href="mcinroy99_dynam">mcinroy99_dynam</a>, <a href="mcinroy99_precis_fault_toler_point_using_stewar_platf">mcinroy99_precis_fault_toler_point_using_stewar_platf</a>, <a href="mcinroy00_desig_contr_flexur_joint_hexap">mcinroy00_desig_contr_flexur_joint_hexap</a></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
<div id="outline-container-org902d27e" class="outline-3">
<h3 id="org902d27e"><span class="section-number-3">3.4.</span> Decoupling Strategies</h3>
<div class="outline-text-3" id="text-3-4">
<p>
Different strategies:
</p>
<ul class="org-ul">
<li>Jacobian decoupling: in the cartesian frame or in the frame of the struts</li>
<li>Modal decoupling</li>
<li>SVD decoupling</li>
</ul>
<p>
Identify Jacobian for better decoupling: <a href="cheng04_multi_body_system_model_gough">cheng04_multi_body_system_model_gough</a>, <a href="gexue04_vibrat_contr_with_stewar_paral_mechan">gexue04_vibrat_contr_with_stewar_paral_mechan</a>.
</p>
<p>
<a id="org0ac1f7d"></a>
</p>
</div>
<div id="outline-container-org1592d01" class="outline-4">
<h4 id="org1592d01"><span class="section-number-4">3.4.1.</span> Jacobian - Struts</h4>
<div class="outline-text-4" id="text-3-4-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<tbody>
<tr>
<td class="org-left">Japan</td>
<td class="org-left">APA</td>
<td class="org-left">Eddy current displacement</td>
<td class="org-left">Decentralized (struts) PI + LPF control</td>
<td class="org-left"><a href="furutani04_nanom_cuttin_machin_using_stewar">furutani04_nanom_cuttin_machin_using_stewar</a></td>
</tr>
<tr>
<td class="org-left">Harbin (China)</td>
<td class="org-left">PZT Piezo</td>
<td class="org-left">Strain Gauge</td>
<td class="org-left">Decentralized position feedback</td>
<td class="org-left"><a href="du14_piezo_actuat_high_precis_flexib">du14_piezo_actuat_high_precis_flexib</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org28c5d71" class="outline-4">
<h4 id="org28c5d71"><span class="section-number-4">3.4.2.</span> Jacobian - Cartesian</h4>
<div class="outline-text-4" id="text-3-4-2">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<tbody>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">Cartesian frame decoupling</td>
<td class="org-left"><a href="obrien98_lesson">obrien98_lesson</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force</td>
<td class="org-left">IFF, Cartesian Frame, Jacobians</td>
<td class="org-left"><a href="mcinroy99_dynam">mcinroy99_dynam</a>, <a href="mcinroy99_precis_fault_toler_point_using_stewar_platf">mcinroy99_precis_fault_toler_point_using_stewar_platf</a>, <a href="mcinroy00_desig_contr_flexur_joint_hexap">mcinroy00_desig_contr_flexur_joint_hexap</a></td>
</tr>
<tr>
<td class="org-left">Seoul</td>
<td class="org-left">Hydraulic</td>
<td class="org-left">LVDT</td>
<td class="org-left">Decentralized (strut) vs Centralized (cartesian)</td>
<td class="org-left"><a href="kim00_robus_track_contr_desig_dof_paral_manip">kim00_robus_track_contr_desig_dof_paral_manip</a></td>
</tr>
<tr>
<td class="org-left">Wyoming</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer (collocated), ext. Rx/Ry sensors</td>
<td class="org-left">Cartesian acceleration feedback (isolation) + 2DoF pointing control (external sensor)</td>
<td class="org-left"><a href="li01_simul_vibrat_isolat_point_contr">li01_simul_vibrat_isolat_point_contr</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometer in each leg</td>
<td class="org-left">Centralized Vibration Control, PI, Skyhook</td>
<td class="org-left"><a href="abbas14_vibrat_stewar_platf">abbas14_vibrat_stewar_platf</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-orge58da27" class="outline-4">
<h4 id="orge58da27"><span class="section-number-4">3.4.3.</span> Modal Decoupling</h4>
<div class="outline-text-4" id="text-3-4-3">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<tbody>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Geophone + Eddy Current (Struts, collocated)</td>
<td class="org-left">Decentralized (Sky Hook) + Centralized (modal) Control</td>
<td class="org-left"><a href="pu11_six_degree_of_freed_activ">pu11_six_degree_of_freed_activ</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Piezoelectric</td>
<td class="org-left">Force, Position</td>
<td class="org-left">Vibration isolation, Model-Based, Modal control: 6x PI controllers</td>
<td class="org-left"><a href="yang19_dynam_model_decoup_contr_flexib">yang19_dynam_model_decoup_contr_flexib</a></td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-org4c0f05d" class="outline-4">
<h4 id="org4c0f05d"><span class="section-number-4">3.4.4.</span> Multivariable Control</h4>
<div class="outline-text-4" id="text-3-4-4">
<p>
From <a href="&amp;thayer02_six_axis_vibrat_isolat_system">&amp;thayer02_six_axis_vibrat_isolat_system</a>:
</p>
<blockquote>
<p>
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.
</p>
</blockquote>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<tbody>
<tr>
<td class="org-left">China</td>
<td class="org-left">PZT</td>
<td class="org-left">Geophone (struts)</td>
<td class="org-left">H-Infinity and mu-synthesis</td>
<td class="org-left"><a href="lei08_multi_objec_robus_activ_vibrat">lei08_multi_objec_robus_activ_vibrat</a></td>
</tr>
<tr>
<td class="org-left">China</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Force sensors (strus) + accelerometer (cartesian)</td>
<td class="org-left">Decentralized Force Feedback + Centralized H2 control based on accelerometers</td>
<td class="org-left"><a href="xie17_model_contr_hybrid_passiv_activ">xie17_model_contr_hybrid_passiv_activ</a></td>
</tr>
<tr>
<td class="org-left">Harbin (China)</td>
<td class="org-left">Voice Coil</td>
<td class="org-left">Accelerometers</td>
<td class="org-left">MIMO H-Infinity, active damping</td>
<td class="org-left"><a href="jiao18_dynam_model_exper_analy_stewar">jiao18_dynam_model_exper_analy_stewar</a></td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
<div id="outline-container-orgc4b0f2e" class="outline-3">
<h3 id="orgc4b0f2e"><span class="section-number-3">3.5.</span> Long Stroke Stewart Platforms</h3>
<div class="outline-text-3" id="text-3-5">
<p>
<a id="org35deefd"></a>
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Link to bibliography</th>
<th scope="col" class="org-left">University</th>
<th scope="col" class="org-left">Actuators</th>
<th scope="col" class="org-left">Sensors</th>
<th scope="col" class="org-left">Control</th>
<th scope="col" class="org-left">Main Object</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left"><a href="cleary91_protot_paral_manip">cleary91_protot_paral_manip</a></td>
<td class="org-left">Japan</td>
<td class="org-left">DC, gear + rack pinion</td>
<td class="org-left">Encoder, 7um res</td>
<td class="org-left">Decentralized (struts), PID control</td>
<td class="org-left">Singular configuration analysis, workspace</td>
</tr>
<tr>
<td class="org-left"><a href="su04_distur_rejec_high_precis_motion">su04_distur_rejec_high_precis_motion</a></td>
<td class="org-left">Xidian (China)</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
</tr>
<tr>
<td class="org-left"><a href="huang05_smoot_stewar">huang05_smoot_stewar</a></td>
<td class="org-left">Taiwan</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
</tr>
<tr>
<td class="org-left"><a href="brezina08_ni_labview_matlab_simmec_stewar_platf_desig">brezina08_ni_labview_matlab_simmec_stewar_platf_desig</a>, <a href="houska10_desig_implem_absol_linear_posit">houska10_desig_implem_absol_linear_posit</a></td>
<td class="org-left">Czech</td>
<td class="org-left">DC</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Modeling with sim-mechanics</td>
</tr>
<tr>
<td class="org-left"><a href="molina08_simul_stewar">molina08_simul_stewar</a></td>
<td class="org-left">Brazil</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Simulation with Matlab/Simulink</td>
</tr>
<tr>
<td class="org-left"><a href="yang10_model_dof_simul_simmec">yang10_model_dof_simul_simmec</a></td>
<td class="org-left">China</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">&#xa0;</td>
<td class="org-left">Decentralized PID</td>
<td class="org-left">Simulation with Simulink/SimMechanics</td>
</tr>
<tr>
<td class="org-left"><a href="kim00_robus_track_contr_desig_dof_paral_manip">kim00_robus_track_contr_desig_dof_paral_manip</a></td>
<td class="org-left">Seoul</td>
<td class="org-left">Hydraulic</td>
<td class="org-left">LVDT</td>
<td class="org-left">Decentralized (strut) vs Centralized (cartesian)</td>
<td class="org-left">&#xa0;</td>
</tr>
</tbody>
</table>
</div>
</div>
</div>
<div id="outline-container-org4e6dda0" class="outline-2">
<h2 id="org4e6dda0"><span class="section-number-2">4.</span> Main Bibliography</h2>
<div class="outline-text-2" id="text-4">
</div>
<div id="outline-container-org164998a" class="outline-3">
<h3 id="org164998a"><span class="section-number-3">4.1.</span> Books</h3>
<div class="outline-text-3" id="text-4-1">
<ul class="org-ul">
<li><a href="merlet06_paral_robot">merlet06_paral_robot</a></li>
<li><a href="taghirad13_paral">taghirad13_paral</a></li>
<li><a href="preumont18_vibrat_contr_activ_struc_fourt_edition">preumont18_vibrat_contr_activ_struc_fourt_edition</a></li>
<li><a href="arakelian18_dynam_decoup_robot_manip">arakelian18_dynam_decoup_robot_manip</a></li>
</ul>
</div>
</div>
<div id="outline-container-org4e9cb74" class="outline-3">
<h3 id="org4e9cb74"><span class="section-number-3">4.2.</span> PhD Thesis</h3>
<div class="outline-text-3" id="text-4-2">
<ul class="org-ul">
<li><a href="li01_simul_fault_vibrat_isolat_point">li01_simul_fault_vibrat_isolat_point</a></li>
<li><a href="bishop02_devel_precis_point_contr_vibrat">bishop02_devel_precis_point_contr_vibrat</a></li>
<li><a href="hanieh03_activ_stewar">hanieh03_activ_stewar</a></li>
<li><a href="vivas04_contr">vivas04_contr</a></li>
<li><a href="afzali-far16_vibrat_dynam_isotr_hexap_analy_studies">afzali-far16_vibrat_dynam_isotr_hexap_analy_studies</a></li>
<li><a href="deng17_integ_dof_loren_actuat_gravit">deng17_integ_dof_loren_actuat_gravit</a></li>
<li><a href="naves20_desig">naves20_desig</a></li>
</ul>
</div>
</div>
<div id="outline-container-org6fed6a3" class="outline-3">
<h3 id="org6fed6a3"><span class="section-number-3">4.3.</span> Articles - Reviews</h3>
<div class="outline-text-3" id="text-4-3">
<ul class="org-ul">
<li><a href="dasgupta00_stewar_platf_manip">dasgupta00_stewar_platf_manip</a></li>
<li><a href="merlet02_still">merlet02_still</a></li>
<li><a href="patel12_paral_manip_applic_survey">patel12_paral_manip_applic_survey</a></li>
<li><a href="buzurovic12_advan_contr_method_paral_robot_system">buzurovic12_advan_contr_method_paral_robot_system</a></li>
<li><a href="furqan17_studies_stewar_platf_manip">furqan17_studies_stewar_platf_manip</a></li>
</ul>
</div>
</div>
</div>
<p>
<a href="ref.bib">ref.bib</a>
</p>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2024-09-25 Wed 15:17</p>
</div>
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