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All Journal Jurnal Teknologi Informasi dan Ilmu Komputer E-Dimas: Jurnal Pengabdian kepada Masyarakat Journal of Information Technology and Computer Science Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control JMM (Jurnal Masyarakat Mandiri) Journal of Robotics and Control (JRC) Jurnal Elkolind : Jurnal Elektronika dan Otomasi Industri Indonesian Journal of Electrical Engineering and Computer Science Journal of Applied Smart Electrical Network and System (JASENS) Journal of Mechanical and Electrical Technology Jurnal Masyarakat Madani Indonesia ELPOSYS: Jurnal Sistem Kelistrikan Pangripta Jurnal Ilmiah Kajian Perencanaan Pembangunan Scientica: Jurnal Ilmiah Sains dan Teknologi Jurnal ELTEK Journal of Evrimata: Engineering and Physics
Siradjuddin, Indrazno
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Journal : Journal of Robotics and Control (JRC)

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Modeling and Control of an 8-Legged Stewart Platform Using Null-Space Control for Precise Motion Under Actuator Constraints Siradjuddin, Indrazno; Fitria, Ida Lailatul; Al Azhar, Gillang; Riskitasari, Septyana; Ronilaya, Ferdian; Wicaksono, Rendi Pambudi
Journal of Robotics and Control (JRC) Vol. 6 No. 4 (2025)
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.v6i4.25920

Abstract

This paper investigates the modeling, control, and redundancy resolution of an 8-legged Stewart platform, emphasizing the use of null-space control to achieve precise trajectory tracking while adhering to actuator constraints. The proposed control framework combines a Proportional-Integral-Derivative (PID) controller with null-space projection to exploit the platform’s inherent redundancy for secondary objectives, such as singularity avoidance, energy optimization, and enhanced fault tolerance. A clamping strategy ensures that actuator lengths remain within operational limits, thereby preventing mechanical failures. Simulation results demonstrate significant error reduction in both position and orientation, even under strict actuator constraints. Specifically, the system achieved exponential convergence to the desired pose within 3 s, with a maximum position error of less than 1 × 10−3 m and orientation error below 5 × 10−4 rad. Actuator efficiency was also enhanced, as the algorithm dynamically redistributed efforts among actuators to avoid overloading any single leg. While energy consumption was not explicitly optimized in this study, the framework provides a foundation for future work in minimizing energy usage through advanced secondary objectives. Stability is analyzed rigorously using Lyapunov’s direct method. Compared to traditional six-legged platforms, the 8- legged design offers superior flexibility and adaptability, making it particularly suitable for applications in flight simulators, robotic surgery, and industrial automation where precision and reliability are critical. However, the proposed approach has certain limitations. For instance, the current implementation assumes ideal actuator dynamics and does not account for uncertainties such as friction, backlash, or external disturbances. Additionally, the clamping strategy may introduce computational overhead, potentially impacting real-time performance in highly dynamic scenarios. Future research could address these limitations by incorporating adaptive or robust control techniques and optimizing computational efficiency. This work advances the design and control of redundant parallel manipulators, offering practical insights into dealing with physical limitations and providing a foundation for future innovations in high-performance motion control systems.
Co-Authors Abdurrahman, Raka Admiral Achmadiah, Mas Nurul Adhisuwignjo, Supriatna Adhitama, Dodik Widya Adhitya Bhawiyuga, Adhitya Adi Prayoga, Dimas Agus Pracoyo Al Azhar, Gillang Al Fattika, Muhammad Fattah Al-Azhar, Gillang Ala'uddin, Muhammad Afif Albastomi, Abu Yazid Alviansya, Toby Arief Prasetyo Arief Rahman Hidayat Athifah, Rula Aulia Nurwicaksana, Wahyu Awan Setiawan Azhar, Gillang Al Chrissandy, Farif Christine, Anastasia Merry Dahnial Syauqy Dwi Risdhayanti, Anindya Ekojono, Ekojono Erfan Rohadi Fahmi Fahanani, Agwin Faizal, Elka Fitri Fitri Fitri Fitria, Ida Lailatul Gillang Al Azhar Hudriyah Mundzir, Hudriyah Ilyasaa, Abizar Imammuddin, Azam Muzakhin Izzati, Fanisa Jazilah, Afwatul Kamajaya, Leonardo Maulana, Wildan Arif Muhammad Arif Nur Huda Nobuo Funabiki, Nobuo Novianto, Ade Rizal Nurhalim, Kubad Nurul Achmadiah, Mas Nurwicaksana, Wahyu Aulia Palupi, Lucky Nindya PERMATASARI, DINDA AYU Pramana Yoga Saputra Pramanta, Rian Egar Prasetyo, Budi Eko Prayogi, Naufal Rizki Radianto, Donny Rahmadani, Alfiandi Aulia Rahman Hidayat, Arief Rahmat, Mohammad Faried Ratna Ika Putri Rendi Pambudi Wicaksono Retno Palupi, Resti Dyah Ayu Riskitasari, Septyana Rofiq, Arta Ainur Ronilaya, Ferdian Rosa Andrie Asmara Rosyidin, Arif Anwar Royhan Darmawan, Muhammad Rudy Ariyanto Salsabilla, Febby Ayu Sapto Wibowo Satriansyah, Muhammad Sembiring, Rinawati Septyana Riskitasari Setiawan, Budhy Sidik Nurcahyo Sigi Syah Wibowo Sungkono Sungkono Triana Fatmawati Wahid Hasyim Wahono , Wahyu Tri Wahyu Aulia Nurwicaksana Widhy Hayuhardhika Nugraha Putra Winarno, Totok Yan Watequlis Syaifudin