Design and Development of Stewart Platform To Balance the Ball Using Fuzzy Logic Control

This paper presents a low-cost fuzzy logic technique to balance the ball on the Stewart platform. This model is designed as a training tool for major balancing projects. The Stewart platform's dynamics and kinematics study is discussed. Fuzzy control is introduced to enhance the control system's effectiveness. In this robust system, exact inputs are not necessary. The Touch panel acts as a feedback sensor that measures the position and velocity of the ball and feeds this information as input to the fuzzy controller. Fuzzy rules are made to balance the ball on the platform. The Arduino Uno, a Primary Control Unit, drives the servo motors to the desired angles. Simulation and experiments show that the ball is balanced at three locations after a specific interval, and the system performs well in monitoring.