In order to achieve high precision motion control of Stewart platform

a motion control system based on kinematics model is designed. In the working space

the trapezoid velocity curve is used for trajectory planning

and the planning trajectory of each leg in the joint space is obtained through the position inverse solution

and the position-velocity controller is designed to control the track of the leg tracking. In order to suppress external disturbances and improve robustness

active disturbance rejection controller（ ADRC） based on model-aided linear extended state observer（ MLESO） is used as speed loop controller. In order to ensure the precision of trajectory tracking

speed up the stabilization of the system

and use the piecewise integral reset PI controller as the position loop controller. The controller is applied to the actual control system and motion control experiments are carried out. The experiment shows that under the control of the designed control system

the platform runs smoothly and can quickly stabilize to the target pose.