The motion control of the adaptive truss with a number of imperfect length-adjustable members is studied from a stochastic point of view. The quality of work space positioning can be maintained in reasonable level by using a large number of redun dant DOFs and an adequate criterion function for motion control. The motion control is also discussed for the case in which individual imperfection at the active member is not known, and the estimation of macroscopic characteristics of the imperfection is proposed. The simulation studies are carried out for several cases, and the feasibility and the effec tiveness of proposed approach is demonstrated.
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