#+TITLE: Stewart Platforms
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* Introduction                                                       :ignore:
The goal here is to provide a Matlab/Simscape Toolbox to study Stewart platforms.

* Simulink Project ([[file:simulink-project.org][link]])

* Stewart Platform Architecture Definition ([[file:stewart-architecture.org][link]])


* Simscape Model of the Stewart Platform ([[file:simscape-model.org][link]])


* Kinematic Analysis ([[file:kinematic-study.org][link]])
- Jacobian Analysis
- Stiffness Analysis
- Static Forces

* Identification of the Stewart Dynamics ([[file:identification.org][link]])
- Extraction of State Space models
- Resonant Frequencies and Modal Damping
- Mode Shapes

* Active Damping ([[file:active-damping.org][link]])
- Inertial Sensor
- Force Sensor
- Relative Motion Sensor

* Control of the Stewart Platform ([[file:control-study.org][link]])

* Cubic Configuration ([[file:cubic-configuration.org][link]])

* Architecture Optimization

* Bibliography                                                        :ignore:
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