本研究設計與實現了一類史都華平台，並採用三菱可程式邏輯控制器(Programmable Logic Controller, PLC)的IEC 61131-3國際標準編程語言設計程序，達成史都華平台的六軸姿態控制，藉由加裝Arduino與GY25所組成的姿態感測器(Attitude sensor)，將系統開迴路控制(Open-loop system)與閉路控制(Close-loop system)的方式進行比較。可程式控制器具有強健運轉品質、高精度浮點運算、抗干擾性高及高精度的伺服控制等優點，其已經廣泛應用於各類自動化設備的產品。更因模組化的設計及易學習的編程語言，可在無需更動其程式架構下即能替換不同的驅動平台，滿足於現行在機電整合中需要快速設計、驗證與實現之需求。本研究結合工業級三菱PLC (Programmable Logic Controller)與KEYENCE HMI (Human–machine interaction)，完成一個全數位化之史都華平台控制系統，實驗結果也顯示本研究方法的優點。本研究提供了在史都華平台設計與控制上另一項具可靠性與低成本的選擇。

In this study, I design and implement a class of Stewart platforms. The six-axis attitude control for the Stewart platform is achieved by Mitsubishi Programmable Logic Controller (PLC) IEC 61131-3. The attiude sensor constituted by Arduino and GY-25 is added to compare the performance of the open-loop and closed-loop systems. PLC has many advantages including: robust operation quality, high precision floating point operation, robust to interference, high-precision servo control, etc. It has been widely applied to various automation devices. Moreover, due to the modular design and easy-to-learn programming language, it can satisfy the requirements in mechatronic systems, including: rapid design, verification, and implementation, by replacing the driver interface without changing the programming structure.
This study integrates the industrial-level Mitsubishi PLC and KEYENCE HMI (Human-Machine Interface) to achieve a fully digitized Stewart platform control system Experimental results show the advantages of the proposed scheme. This study provides another reliable and low-cost choice for the design and control of the Stewart platform.

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