Abstract
The controllable workspace of a tendon-based Stewart Platform is the set of postures where forces and torques at the end-effector can be controlled. A necessary and sufficient condition is given for those postures where forces can be controlled; thus, a superset of the controllable workspace can be calculated easily. External forces are modeled as an additional tendon fixed at inifinity by introducing an unusual compactification of IRn that contains one infinitely distant point for each direction.
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Verhoeven, R., Hiller, M. (2000). Estimating the Controllable Workspace of Tendon-Based Stewart Platforms. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_29
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DOI: https://doi.org/10.1007/978-94-011-4120-8_29
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-010-5803-2
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