Stewart Platform Inverse Kinematics Simulation with stochastic JONSWAP waves

Prerequisite

In order to plot and animate the platform simulation points, the Python package matplotlib is required.

• Pip install for Python3:

  pip3 install matplotlib
  

Running the default simulation

simply execute the file: main.py

Applied theory

Wave theory

The wave elevation at time, t, at distance from calculation origin, x, is calculated with the following equations from DNVGL-CG-0130

A "raft in slow waves" assumption is made when calculating the 6 degree of freedom body displacement's amplitudes and phase lags.