6DOF Stewart platform real time motion controller

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tronicgr
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Joined: Wed Apr 09, 2014 5:45 pm

6DOF Stewart platform real time motion controller

Postby tronicgr » Sat Apr 19, 2014 1:54 am

Version: 1
Status: Under development
License: BSD

Hi,
This is my attempt using the Xmos Slicekit to create a 6DOF motion controller capable of signals compatible with all types of motor drives.
 
This will hopefully upgrade my existing motion controller that is based on ATmega1280 microcontroller, to allow even faster and more precise control of the motion platform. Here are some demonstration videos of the capabilities of the existing controller:
 
{New Videos below}
https://www.youtube.com/watch?v=Io4DLdaGje8
https://www.youtube.com/watch?v=FRlK4c0-5rE
 
https://www.youtube.com/watch?v=Cewn7JJtKGk
https://www.youtube.com/watch?v=n8unuWm33ZQ
https://www.youtube.com/watch?v=TCc9LFaRIh8
Here's Mike video demonstrating a scale model, that soon will be big enough for his 737 replica cockpit https://www.youtube.com/watch?v=mIfY82Dcyf0
 
Currently it outputs RC servo, PWM and Analog output signals that are enough to even drive 1000kg platform using VFD inverters or AC servomotors.
I hope I can achieve the same functionality and even better using the SliceKIT and a few extra components (I'll design a driver shield, or custom slices).
 
Thanks
Thanos
 
Video:

Images:
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DavidW
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Postby DavidW » Wed Apr 23, 2014 4:35 pm

I've been wondering what to do with the spare room.... i want one!
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tronicgr
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Postby tronicgr » Wed Apr 23, 2014 6:08 pm

If you can handle making some mechanical parts your self (DIY), it would be easy. There are instruction, plans and software for it already. I just hope to get it better using the SliceKIT! :)
 
Thanks
Thanos
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asid61
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Postby asid61 » Mon Jul 28, 2014 8:41 am

WOW that is so amazing.
I'm pretty sure you could sell those for several thousand dollars each.
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tronicgr
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Postby tronicgr » Tue Jul 29, 2014 8:39 pm

The platform itself costs about $4500-$5000 as its using industrual grade AC motors and VFD inverters. Depending on how much load you plan to have on it, it can cost more or much less.
But to start building these myself and sell them... It takes lots of work and tools and a complete workshop is needed. Its a full time job! That doesn't stop people from building those DIY though. The above example (photo) proves it, as Fabian actually build it with the help of his kids, under my directions. 
So I just help people build it themselves for the moment, providing my motion controllers and my knowledge on the subject :)
The Xmos SliceKit will allow me to use dedicated cores for each motor PID math, and at the same time extra cores for embedding the inverse kinematics math to make it as much autonomus from the computer side is possible.
 
Thanos

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