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 f...
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Format: | Tagungsbericht |
Sprache: | eng |
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Zusammenfassung: | 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. |
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ISSN: | 0191-2216 |
DOI: | 10.1109/CDC.1999.827960 |