feedback linearization and stewart platform mechanism

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1 total messages Started by HAMID Tue, 26 Feb 2002 14:48

#90

Author: HAMID
Date: Tue, 26 Feb 2002 14:48

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Dear sir,

We use feedback linearization method to control a 6-6 stewart platform
mechanism.

In this method we need all of the states and derive of them in control
law.

But in actual case we can't measure all of the states and derive of
them ( 48 variable),

Only we can measure 6 jack lengths and derive of them.

If you know a method to solve the dirct kinematic equations and obtain
all of the variales or,

you know another way to obtain the variables ,

Please help us.

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