Research on motion control automation of Stewart Platforms with industrial configurations (motion and controllers) is less present in the literature than other types of automation with low-cost devices such as Arduino, or via simulations in MATLAB or Simulink. Moreover, direct kinematics is less widely applied because of heavy calculation in real-time device implementations. The paper first analyzes the design, kinematic modelling, and trajectory generation of a Stewart Platform robot and addresses direct kinematics and motion automation. Next, the automation architecture with industrial controllers is detailed. The paper presents the results of the inverse kinematic in two use scenarios: cycloidal trajectories that carry out point-to-point and oceanic wave movements. The efficient calculation of direct kinematics in real time was also studied. This opens the possibility of closing the positioning loop at the controller or implementing supervisors such as the “tracking error”. Further research might investigate the effects of the sequence planning to avoid collisions with objects inside the workspace while considering the feedback of the tracking error.

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This article deals with the problem of joint representation of mechanical and motion control information of machines with servo axes. A new conceptual model is proposed for the graphical representation of industrial mechatronic systems covering the minimum information requirements from both mechanical and motion automation points of view. The model also takes into account new electronic motion control concepts such as virtual axes and temporary electronic coordination relationships between axes (e-gears). The objective is to support more integrated and collaborative work between mechanical designers and automation developers when implementing complex machines and industrial mechatronic systems. Schemes graphically representing the relevant common information are obtained from the information model, which may simplify the exchange of information between the mechanical and the motion control fields, not only at conceptualization and design stages, but also throughout the rest of the implementation process of industrial mechatronic systems.