Stewart Platform -Design, Analysis, Modeling and Simulation

Developed equations to calculate the system parameters (leg lengths), followed by performing inverse kinematics to make the platform move in the desired motion. The code was written in MATLAB. The Stewart platform was modeled and simulated in Simscape (toolbox of MATLAB). It was actuated using both joint motion (kinematic actuation) and force (dynamic) actuation, via feedback control using PID controller.

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Skills Utilized:  MATLAB, Simulink, Simscape, CAD (SOLIDWORKS), Kinematics, Dynamics, Analysis, Modeling, Simulation

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