This is an attempt at making a robot capable of performing complex juggling patterns. It is based on, at the moment, a single 6 DoF Stewart platform controlled by 6x moteus r4.11's with mj5208 brushless motors.
I implemented the inverse kinematics and inverse dynamics equations so that now the platform can be positioned at any orientation along a continuous trajectory. I rigged up a simple 8 point demo with the translational degrees of freedom controlled by ruckig (orientation remains fixed at perfectly level), to show that it is working!
I have a working single Stewart platform prototype, which is capable of motion. My super simple script now just moves all the axes to one of two alternating positions with different commanded maximum accelerations. That's enough to verify that it is able to operate repeatedly and that it can make decently high tosses.
Next up is implementing the IK for the Stewart platform so that I can get aiming working, and possibly also improving the mounting so that it doesn't jump around so much for high tosses.