Verhoeven, Richard; Hiller, Manfred:
Tension distribution in tendon-based stewart platforms
In: Proceedings of 8th International Symposium on Advances in Robot Kinematics (ARK) - University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany, 2002
2002Buchaufsatz/Kapitel in Sammelwerk
Tension distribution in tendon-based stewart platforms
Verhoeven, Richard; Hiller, ManfredLSF


When controlling the motion of tendon-based Stewart plattforms, it is necessary to maintrain 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 may fail to be continous along a trajectory, but they can be approximateed by almost optimal solutions which are continous except in singular postures.