abstract
- © 2021, The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG.This paper presents the implementation of a position-torque control law for a 6DOF Stewart platform for tracking trajectories through its end-effector. First, the kinematics and a configuration description are depicted. Then, a control scheme is suggested and implemented using a Quanser data acquisition card that has compatibility with Matlab Simulink in order to control the linear positioners of the robot. The use of these elements merges a simple but rewarding control of this parallel robot towards a new scheme of technologic incorporation for aerospace applications which make use of the Stewart platform as a motion generator.