论文信息 - Optimal fault tolerant control of flexure jointed hexapods for applications requiring less than six degrees of freedom

Optimal fault tolerant control of flexure jointed hexapods for applications requiring less than six degrees of freedom

When less than 6 degrees-of-freedom (DOF) are required (in precision pointing tasks, for example), the kinematic redundancy of a Stewart platform (or hexapod) makes it possible to implement fault tolerant algorithms. When one or several of the platform legs (struts) fail, methods are presented in this paper for finding a new, reconfigured control to maintain performance.

J.C. Hamann | X. Li | J.E. Mcinroy

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