I have some questions about Stewart Platform with Simulink

Hello, I'm trying to simulate Stewart Platform using Simulink.

So I made a Stewart Plaform 3D model with Solid Works and transform files to 'slx'.

However, It was hard to make controll system for me, I refered Matlab example sm_import_stewart_platform.

After finishing Simulink modeling, I'm changing values appropriately to my System. While doing this, I have questions about values.

When you open 'Leg Trajectory' of Stewart Plaform(sm_import_stewart_platform), you can find 'pos_base', 'nominal leg length'.

I guessed that 'pos_base' was leg postion and 'nominal leg length' was initial leg length. I adjusted values with m-files which be created

when transforming 3d model to xml. But result was vey terrible. Platform moved peculiarly.

Then, my supposition was not correct? Or I mistaked to model system??

I attatched my files, PLEASE answer my question.

(Open files HexapodAssembly_new2.slx)

Answer 1

[Steve Miller]

If you modify the lengths of the legs, it is quite possible the controller will no longer work properly. The controller may be trying to reach a point that is no longer kinematically possible. It is not easy to know exactly what you attempted, but I would expect changing the leg lengths to affect the controller performance.

--Steve