Control of flexure jointed hexapods

By combining static input-output decoupling transformations with hexapod geometric design, the highly coupled dynamics of a flexure jointed hexapod can be decoupled. Several algorithms have been proposed, which result in different sets of decoupled inputs and outputs and which can use a variety of feedback measurements (jointer Cartesian position, velocity, or acceleration as well as base force). Experimental results indicate that the approach is practical, and yields superior performance.