Stewart Platform Generator
Stewart Platform Generator
Up, down, sideways, and any combination of the three!
Up, down, sideways, and any combination of the three!
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Class Name: ME/CS/EE 133 a (Robotics)
Institution: Caltech (Undergrad)
Project Duration: November-December 2023
Project Description: Simulated motion of a Stewart Platform with ROS
Joint project with Steven Lei and Bobby Wang. They handled creating the Stewart Platform URDF with CAD. setting up the control of the URDF in ROS, and creating the preprogrammed movement. I worked on the inverse + forward kinematics as well as the slider code.
Project Work
Project Work
Link to download code, or view on Github.
The environment we ran this in was through Oracle VM VirtualBox on a ROS2 Humble Machine, instructions on setting up the VM and ROS here (courtesy of Prof. Gunter Niemeyer).
Usually, in describing the possible motion of robots, the inverse kinematics are more difficult to solve for than the forward kinematics. For a Stewart Platform, the inverse kinematics are actually trivial (every platform position uniquely determines leg lengths and angles), so we tackled the less-trivial problem of forward kinematics (predicting position from leg lengths alone).
Demonstration video (courtesy of Steven Lei)
133a_Final_Project.pdfFinal report (Includes instructions for running, CAD/URDF process, as well as formulas used for forward kinematic calcaultions)
What I learned
What I learned
Skills Exercised/Gained
Skills Exercised/Gained
ROS2
Solving for inverse and forward kinematics
Newton-Raphson Algorithm
Finding Jacobian matricies
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