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Development of Spatial Path Tracking Algorithm and Controller for a 6‐SPS Stewart Parallel Manipulator: A Simulation and Experimental Study.

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Title: Development of Spatial Path Tracking Algorithm and Controller for a 6‐SPS Stewart Parallel Manipulator: A Simulation and Experimental Study.
Authors: Chauhan, Dev Kunwar Singh1,2 (AUTHOR) dkc10@iitbbs.ac.in, Vundavilli, Pandu R.2 (AUTHOR)
Source: Journal of Field Robotics. Aug2026, Vol. 43 Issue 5, p3592-3611. 20p.
Subjects: Parallel robots, Robotic path planning, Kinematics, Robot kinematics, Model validation, Robot control systems, PID controllers, Motion control devices
Abstract: The Stewart parallel robot is popular for its high payload capacity due to its six prismatic links. Researchers worldwide are exploring it for various applications. In this work, the authors have developed an inverse kinematics‐based spatial path tracking algorithm for the Stewart platform that allows it to track circular paths in multiple planes. Authors also conducted experiments to test the algorithm. Initially, they established the inverse kinematics, Jacobian, and singularity of the robot. Next, they established motion planning for the robot using a third‐order polynomial in task space. Subsequently, they developed a motion controller for an individual joint actuator, employing a PID control strategy to precisely control its motion. After that, they controlled the overall motion of the Stewart manipulator using inverse kinematics by utilizing the actuator's PID‐based motion controller. The authors accomplished a novel path tracking method after breaking the whole path into multiple small trajectories and matching the endpoint velocities. Later, they used the developed path‐tracking algorithm to generate a circular shape on the aluminum disc. The developed algorithm successfully created a circular form on the aluminum disc for the incremental form application. [ABSTRACT FROM AUTHOR]
Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Database: Engineering Source
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DbLabel: Engineering Source
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  Data: Development of Spatial Path Tracking Algorithm and Controller for a 6‐SPS Stewart Parallel Manipulator: A Simulation and Experimental Study.
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  Data: <searchLink fieldCode="AR" term="%22Chauhan%2C+Dev+Kunwar+Singh%22">Chauhan, Dev Kunwar Singh</searchLink><relatesTo>1,2</relatesTo> (AUTHOR)<i> dkc10@iitbbs.ac.in</i><br /><searchLink fieldCode="AR" term="%22Vundavilli%2C+Pandu+R%2E%22">Vundavilli, Pandu R.</searchLink><relatesTo>2</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Journal+of+Field+Robotics%22">Journal of Field Robotics</searchLink>. Aug2026, Vol. 43 Issue 5, p3592-3611. 20p.
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  Data: <searchLink fieldCode="DE" term="%22Parallel+robots%22">Parallel robots</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink><br /><searchLink fieldCode="DE" term="%22Kinematics%22">Kinematics</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+kinematics%22">Robot kinematics</searchLink><br /><searchLink fieldCode="DE" term="%22Model+validation%22">Model validation</searchLink><br /><searchLink fieldCode="DE" term="%22Robot+control+systems%22">Robot control systems</searchLink><br /><searchLink fieldCode="DE" term="%22PID+controllers%22">PID controllers</searchLink><br /><searchLink fieldCode="DE" term="%22Motion+control+devices%22">Motion control devices</searchLink>
– Name: Abstract
  Label: Abstract
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  Data: The Stewart parallel robot is popular for its high payload capacity due to its six prismatic links. Researchers worldwide are exploring it for various applications. In this work, the authors have developed an inverse kinematics‐based spatial path tracking algorithm for the Stewart platform that allows it to track circular paths in multiple planes. Authors also conducted experiments to test the algorithm. Initially, they established the inverse kinematics, Jacobian, and singularity of the robot. Next, they established motion planning for the robot using a third‐order polynomial in task space. Subsequently, they developed a motion controller for an individual joint actuator, employing a PID control strategy to precisely control its motion. After that, they controlled the overall motion of the Stewart manipulator using inverse kinematics by utilizing the actuator's PID‐based motion controller. The authors accomplished a novel path tracking method after breaking the whole path into multiple small trajectories and matching the endpoint velocities. Later, they used the developed path‐tracking algorithm to generate a circular shape on the aluminum disc. The developed algorithm successfully created a circular form on the aluminum disc for the incremental form application. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Journal of Field Robotics is the property of Wiley-Blackwell and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
PLink https://search.ebscohost.com/login.aspx?direct=true&site=eds-live&db=egs&AN=195362149
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        Value: 10.1002/rob.70207
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      – Code: eng
        Text: English
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        PageCount: 20
        StartPage: 3592
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      – SubjectFull: Parallel robots
        Type: general
      – SubjectFull: Robotic path planning
        Type: general
      – SubjectFull: Kinematics
        Type: general
      – SubjectFull: Robot kinematics
        Type: general
      – SubjectFull: Model validation
        Type: general
      – SubjectFull: Robot control systems
        Type: general
      – SubjectFull: PID controllers
        Type: general
      – SubjectFull: Motion control devices
        Type: general
    Titles:
      – TitleFull: Development of Spatial Path Tracking Algorithm and Controller for a 6‐SPS Stewart Parallel Manipulator: A Simulation and Experimental Study.
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            NameFull: Chauhan, Dev Kunwar Singh
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            NameFull: Vundavilli, Pandu R.
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            – D: 01
              M: 08
              Text: Aug2026
              Type: published
              Y: 2026
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            – TitleFull: Journal of Field Robotics
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