DESIGN AND IMPLEMENTATION OF FEEDBACK CONTROL SYSTEM FOR 6-DOF STEWART PLATFORM

The goal of this paper is to design and implement feedback control system for a Stewart Platform to control a ball-on-plate system. In this work, a complete physical system and controller design of a 6-Degree of Freedom (6-DoF) Stewart platform explored from conception to modelling to testing and completion is done. Stewart platform is parallel manipulator having 6 actuators to control the position and orientation of a plat-form. The ranges of motion achieved by this manipulator are three translation motions (each in X; Y and Z axes) and three rotational motions around each axis, these motions can be controlled either independently or in any combination (The range and combinations of motion are subjected to physical limitation). The ball-on-plate system is an unstable open-loop System in which a ball placed on a plate (i.e., Platform) and the position of the ball is indirectly controlled by tilting the plate on its X and Y axes.