Stewart Platform Controller

As the final project of a graduate course on parallel robots, a team of fellow students and I implemented and simulated a controller for Stewart platforms using MATLAB. This project involved proportional-derivative control, inverse kinematics, forward kinematics, dynamics, and quintic trajectory planning. A video of the simulated Stewart platform moving between waypoints is shown above, and our team's report is shown below. A copy of our code is archived here: https://github.com/cooperducharme/Stewart_Platform_Controller