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This project focuses on the development of a Stewart Platform with 6 Degrees of Freedom (DoF), that aims to stabilize a ball in its center. The infrastructure is supported by a FreeRTOS application with multiple tasks (which handle the sensors and motors) and a lightweight TCP/IP stack. Via a GUI application developed using Qt, that connects to the platform by Ethernet using TCP/IP protocol, PID parameters can be managed remotely and the system may be monitorized from distance.
STM Code implementing Fuzzy Logic for PID to drive motor.
Cartesian Impedence Control for KUKA LWR
A toolbox to study Stewart platforms using Matlab/Simscape
Lightweight Modbus RTU slave lib using FreeRTOS.
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