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All Journal Bulletin of Electrical Engineering and Informatics Jurnal Teknologi Informasi dan Ilmu Komputer E-Dimas: Jurnal Pengabdian kepada Masyarakat Jurnal ELTIKOM : Jurnal Teknik Elektro, Teknologi Informasi dan Komputer Journal of Information Technology and Computer Science Kinetik: Game Technology, Information System, Computer Network, Computing, Electronics, and Control JMM (Jurnal Masyarakat Mandiri) SENTIA 2016 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) Jurnal Pengabdian Polinema Kepada Masyarakat International Journal of Robotics and Control Systems Jurnal Pengabdian Kepada Masyarakat Journal of Mechanical and Electrical Technology Jurnal ELTEK Asian Journal Science and Engineering Jurnal Masyarakat Madani Indonesia ELPOSYS: Jurnal Sistem Kelistrikan Jurnal Teknik Kimia dan Lingkungan Pangripta Jurnal Ilmiah Kajian Perencanaan Pembangunan Scientica: Jurnal Ilmiah Sains dan Teknologi Kohesi: Jurnal Sains dan Teknologi Jurnal ELTEK Jurnal Pengabdian Kepada Masyarakat Journal of Evrimata: Engineering and Physics IRDH International Journal of Technology, Agriculture and Natural Sciences (IRDH IJTANS)
Indrazno Siradjuddin
Politeknik Negeri Malang
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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 Abdul Syukor Mohamad Jaya Abdurrahman, Raka Admiral Abrihan Bachtiar Samudra Achmadiah, Mas Nurul Adhisuwignjo, Supriatna Adhitama, Dodik Widya Adhitya Bhawiyuga, Adhitya Adi Prayoga, Dimas Agus Pracoyo Ahmad Fahmi Ahmad Fahmi Ahmad Farih Qolyubie Rosief Al Azhar, Gillang Al Fattika, Muhammad Fattah Ala'uddin, Muhammad Afif Albastomi, Abu Yazid Alfiandi Aulia Rahmadani Alviansya, Toby Anang Lubis, Mohammad Agustinus Saputra Anggit Murdani Anindya Dwi Risdhayanti Arief Prasetyo Arief Rahman Hidayat Arta Ainur Rofiq Arwin Datumaya Wahyudi Sumari Athifah, Rula Aulia Nurwicaksana, Wahyu Awan Setiawan Azam Muzakhin Imammuddin Azhar, Gillang Al Azmiansyah Azmiansyah Bambang Priyadi Beauty Anggraheny Ikawanty Brahmantya Bagus Irsa Adinugraha Bristha Breneztavani Budhy Setiawan Budhy Setiawan Cahya Rahmad Chandra Andreas Setyo Wibisono Chandrasena Setiadi Chrissandy, Farif Christine, Anastasia Merry Dahnial Syauqy Denda Dewatama Dwikinta, Made Anindya Edi Sulistio Budi Ekananda Sulistyo Putra Ekojono, Ekojono Erfan Rohadi Erni Yudaningtyas Fadhil Abdullah Fahmi Fahanani, Agwin Faizal, Elka Fanisa Izzati Fasha Rafi Islamey Fatan Wirawan Ferdian Ronilaya Ferdy Hanan Pradana Firmanda Gies Algiffari Fitri Fitri Fitri Fitri Fitria, Ida Lailatul Fuad Dzaky Rizaldy Gilang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al Azhar Gillang Al-Azhar Gisela Ririh Handika Dwi Cahyono Hari Kurnia Safitri Hein Htet Herwandi Herwandi Hudriyah Mundzir, Hudriyah I Made Wirawan Ida Lailatul Fitria Ifrin Sandra Asti Ilham Agung Wicaksono Ilyasaa, Abizar Ivan Fadhila Izzati, Fanisa Jazilah, Afwatul Josafat Pratama Susilo Kamajaya, Leonardo Kiki Satria Putra Komarudin Achmad Leonardo Kamajaya Lucky Nindya Palupi M. Fahmi Khusnu Awaludin Mahfud Jiono Marizan bin Sulaiman Marizan Sulaiman Maulana, Wildan Arif Mila Fauziyah Mila Fauziyah Muhammad Afif Ala'uddin Muhammad Arif Nur Huda Muhammad Fattah Al Fattika Muhammad Khairuddin Mukhamad Luqman Muttaqin Faizin Nandaru Ramadhan Nanik Hendrawati Nanik hendrawati, Nanik Naufal Nurdinasetyo Nobuo Funabiki Nourma Ahada Arivantoro Novianto, Ade Rizal Nurhalim, Kubad Nurul Achmadiah, Mas Palupi, Lucky Nindya Patma, Tundung Subali PERMATASARI, DINDA AYU Pramana Yoga Saputra Pramana Yoga Saputra Pramanta, Rian Egar Prasetyo, Budi Eko Prayitno Prayitno Prayitno Prayitno Prayogi, Naufal Rizki Radianto, Donny Rahman Hidayat, Arief Rahmat, Mohammad Faried Ramadhan Kurniawan Ratna Ika Putri Rendi Pambudi Wicaksono Retno Palupi, Resti Dyah Ayu Rifa'i, Muhamad Riskitasari, Septyana Riza Lukmana Putra Rizky Ramadhan Rizqy Abdurrahman Rofiq, Arta Ainur Ronilaya, Ferdian Rosa Andrie Asmara Rosyidin, Arif Anwar Royhan Darmawan, Muhammad Rudy Ariyanto salies Apriliyant Salsabila Karina Kholiqin Salsabilla, Febby Ayu Sapto Wibowo Sapto Wibowo Sapto Wibowo Satriansyah, Muhammad Sembiring, Rinawati Septian Dimas Rochmanda Septian Dimas Rochmanda Septyana Riskitasari Septyana Riskitasari SEPTYANA RISKITASARI Septyana Riskitasari Septyana Riskitasari Setiawan, Budhy Sidik Nurcahyo Sigi Syah Wibowo Sulistio, Andhika Sungkono Sungkono Sungkono Sungkono Sungkono Sungkono Syamsiana, Ika Noer Teddy Hero Prasetyo Triana Fatmawati Wahid Hasyim Wahono , Wahyu Tri Wahyu Aulia Nurwicaksana Wahyu Aulia Nurwicaksana Wahyu Aulia Nurwicaksana WAHYU AULIA NURWICAKSANA Wahyu Aulia Nurwicaksana Widhy Hayuhardhika Nugraha Putra Winarno, Totok Yan Watequlis Syaifudin Yohana, Puspa Ayu Yohana Yudi Utomo Yuri Ariyanto Zahruddin Arif S Zakiyah Amalia Zakiyah Amalia zulfikar abror