Simultaneous vibration isolation and pointing control of flexure jointed hexapods

Xiaochun Li; Jerry C. Hamann; John E. McInroy

doi:10.1117/12.436521

16 August 2001 Simultaneous vibration isolation and pointing control of flexure jointed hexapods

Xiaochun Li, Jerry C. Hamann, John E. McInroy

Proceedings Volume 4327, Smart Structures and Materials 2001: Smart Structures and Integrated Systems; (2001) https://doi.org/10.1117/12.436521
Event: SPIE's 8th Annual International Symposium on Smart Structures and Materials, 2001, Newport Beach, CA, United States

Abstract

Vibration isolation and precision pointing problems using hexapods have been separately investigated by several groups of researchers. Since many applications require simultaneous vibration isolation and precision pointing (e.g., telescopes, laser communication, and laser weapons), it is particularly useful to do both with a single device. A simultaneous control scheme is developed in this paper using acceleration feedback to provide high-frequency vibration isolation, while Cartesian pointing feedback provides low-frequency pointing. The compensation is divided by frequency because pointing sensors often have a low bandwidth, while acceleration sensors often have a poor low-frequency response. Methods for unifying these finite bandwidth joint and Cartesian controls to perform simultaneous pointing and vibration isolation on a single platform are developed and verified. Experiments on the University of Wyoming hexapods show that this scheme provides a viable control bandwidth.

Citation Download Citation

Xiaochun Li, Jerry C. Hamann, and John E. McInroy "Simultaneous vibration isolation and pointing control of flexure jointed hexapods", Proc. SPIE 4327, Smart Structures and Materials 2001: Smart Structures and Integrated Systems, (16 August 2001); https://doi.org/10.1117/12.436521

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