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

摘要

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.