Abstract
When controlling the motion of tendon-based Stewart platforms, it is necessary to maintain the tendon forces inside an acceptable range, between a minimum and a maximum. This leads to a polyhedral set in the force space, where optimal solutions are represented as points of minimum norm. Optimal solutions may fail to be continous along a trajectory, but they can be approximated by almost optimal solutions which are continous except in singular postures.
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© 2002 Springer Science+Business Media Dordrecht
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Verhoeven, R., Hiller, M. (2002). Tension Distribution in Tendon-Based Stewart Platforms. In: Lenarčič, J., Thomas, F. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-017-0657-5_13
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DOI: https://doi.org/10.1007/978-94-017-0657-5_13
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-6054-9
Online ISBN: 978-94-017-0657-5
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