Dynamic modeling and decoupling force control of a precision hexapod

摘要

A simplified dynamic model suitable for precision hexapods is derived and compared to experimental measurements. Although this model is much less complex than the full model of a hexapod, it nevertheless is a highly coupled plant with six inputs and six outputs. Because the movements of a precision hexapod are so small, the nonlinear terms of the plant can be reasonably neglected. From the new dynamic model, an input/output transformation is found which decouples the plant completely, if the geometry of the hexapod and its payload is chosen such that the Jacobian is orthogonal.