By Topic

Lessons learned in nonlinear systems and flexible robots through experiments on a 6 legged platform

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

5 Author(s)
O'Brien, J.F. ; Dept. of Electr. Eng., Wyoming Univ., Laramie, WY, USA ; McInroy, J.E. ; Bodtke, D. ; Bruch, M.
more authors

Both NASA's Jet Propulsion Laboratory and the University of Wyoming have constructed 6 legged platforms, or hexapods. The hexapods are intended to provide precise motion and six degree-of-freedom vibration isolation. Two experiments performed on these hexapods provide lessons in nonlinear systems and flexible robots. In the area of nonlinear systems, it has been learned that multiple hard saturations can induce limit cycles, undesirably turning an active vibration isolator into a vibration generator. Thus, new analysis tools for multiple hard nonlinearities in multidimensional systems are needed to explain and avoid these limit cycles. In the area of flexible robots, it has been learned that model-based decoupling approaches may not work in practice despite a reasonably good match between modeled and measured dynamics. Consequently, analytical methods of predicting the level of decoupling which will actually be achieved in practice are needed

Published in:

American Control Conference, 1998. Proceedings of the 1998  (Volume:2 )

Date of Conference:

21-26 Jun 1998