I am working on a ball balancing stewart platform ( something like this - Ball Balancing Stewart Platform - YouTube).
For my project, I need inverse kinematic solution of the platform, I am calculating the required role and pitch from the mathematical model of the ball and plate system and the roll and pitch is given to the stewart platform, where it is used to calculate the rotation and the translation matrix for the top platfrom wrt the base platform coordinate system. Using the matrix, the vectors to the top point in the base frame coordinate system (Qi) and from qi i get the leg length, from leg length I get the servo motor angle.
the reference is attached below:
If someone has worked on similar projects, I would appreciate some help.