🚢 Planar Stewart Platform: Ship Heave and Roll Compensation with Leg Servos (2D)

Side view of a three-leg parallel platform that keeps its deck level while a ship heaves and rolls on a swell. Set the heave and roll amplitude, wave frequency, servo stiffness and damping, and the leg speed limit, and watch the legs stretch and the deck stay steady. Leg stroke, required leg speed, tracking factor and residual motion are computed, with four in-page numerical checks. A robotics companion to the 3D Stewart wave-cancellation lab.