Development of Spatial Path Tracking Algorithm and Controller for a 6‐SPS Stewart Parallel Manipulator: A Simulation and Experimental Study

ABSTRACT The Stewart parallel robot is popular for its high payload capacity due to its six prismatic links. Researchers worldwide are exploring it for various applications. In this work, the authors have developed an inverse kinematics‐based spatial path tracking algorithm for the Stewart platform that allows it to track circular paths in multiple planes. Authors also conducted experiments to test the algorithm. Initially, they established the inverse kinematics, Jacobian, and singularity of the robot. Next, they established motion planning for the robot using a third‐order polynomial in task space. Subsequently, they developed a motion controller for an individual joint actuator, employing a PID control strategy to precisely control its motion. After that, they controlled the overall motion of the Stewart manipulator using inverse kinematics by utilizing the actuator's PID‐based motion controller. The authors accomplished a novel path tracking method after breaking the whole path into multiple small trajectories and matching the endpoint velocities. Later, they used the developed path‐tracking algorithm to generate a circular shape on the aluminum disc. The developed algorithm successfully created a circular form on the aluminum disc for the incremental form application.