Stewart Platform Motion Control Automation with Industrial Resources to Perform Cycloidal and Oceanic Wave Trajectories

Abstract

Research on motion control automation of Stewart Platforms with industrial configurations (motion and controllers) is less present in the literature than other types of automation with low-cost devices such as Arduino, or via simulations in MATLAB or Simulink. Moreover, direct kinematics is less widely applied because of heavy calculation in real-time device implementations. The paper first analyzes the design, kinematic modelling, and trajectory generation of a Stewart Platform robot and addresses direct kinematics and motion automation. Next, the automation architecture with industrial controllers is detailed. The paper presents the results of the inverse kinematic in two use scenarios: cycloidal trajectories that carry out point-to-point and oceanic wave movements. The efficient calculation of direct kinematics in real time was also studied. This opens the possibility of closing the positioning loop at the controller or implementing supervisors such as the “tracking error”. Further research might investigate the effects of the sequence planning to avoid collisions with objects inside the workspace while considering the feedback of the tracking error.