@Ronan Thank you.
If “dynamic systems” means autonomous ODE systems, then Draghilev’s method is based on them. In turn, this method can be used to find a set of bifurcations of autonomous systems, both discrete and continuous. This is where my knowledge on this issue ends.
As for the Stewart platform, in the 3rd part of the program, you can easily remove my 3 rotary-inclined racks of variable length and replace them with your 6 variable-length racks. My racks are controlled by rotation, tilt and length, while your racks will be adjustable in length. The number of Cij points in the text (where i is the number of the point, and j is its coordinate) you need to increase from 3 to 6 and connect to the platform (solid) in any way convenient for you. Then you will automatically receive a solution to the inverse kinematic problem for your new device, because at any time you will know the lengths of all the racks and, of course, the coordinates of all the necessary points. At the same time, we are not talking about possible emergency situations such as: crossing of racks, exceeding the permissible length, etc., however, all this can be controlled and, if necessary, make changes to its design.
As a matter of fact, the third part of the program is designed to use preliminary calculations of the first two parts and to save time when obtaining a solution to the inverse kinematic problem for any models that can reproduce the given trajectory of the platform movement.