tdehaeze/dehaeze26_cubic_architecture_decoupling
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Thomas Dehaeze
2025-11-27 17:53:13 +01:00
parent 85b84a6b17
commit 3816aadc75
23 changed files with 5857 additions and 398 deletions
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@@ -175,15 +175,15 @@
#+begin_src latex :file detail_kinematics_centralized_control.pdf
\begin{tikzpicture}
\node[block] (Jt) at (0, 0) {$\bm{J}^{-\intercal}$};
\node[block, right= of Jt] (G) {$\bm{G}$};
\node[block, right= of G] (J) {$\bm{J}^{-1}$};
\node[block, left= of Jt] (Kx) {$\bm{K}_{\mathcal{X}}$};
\node[block, right=0.5 of Jt] (G) {$\bm{G}$};
\node[block, right=0.5 of G] (J) {$\bm{J}^{-1}$};
\node[block, left=0.7 of Jt] (Kx) {$\bm{K}_{\mathcal{X}}$};
\draw[->] (Kx.east) -- node[midway, above]{$\bm{\mathcal{F}}$} (Jt.west);
\draw[->] (Kx.east) node[above right]{$\bm{\mathcal{F}}$} -- (Jt.west);
\draw[->] (Jt.east) -- (G.west) node[above left]{$\bm{\tau}$};
\draw[->] (G.east) -- (J.west) node[above left]{$\bm{\mathcal{L}}$};
\draw[->] (J.east) -- ++(1.0, 0);
\draw[->] ($(J.east) + (0.5, 0)$)node[]{$\bullet$} node[above]{$\bm{\mathcal{X}}$} -- ++(0, -1) -| ($(Kx.west) + (-0.5, 0)$) -- (Kx.west);
\draw[->] (J.east) -- ++(0.8, 0);
\draw[->] ($(J.east) + (0.4, 0)$)node[]{$\bullet$} node[above]{$\bm{\mathcal{X}}$} -- ++(0, -1) -| ($(Kx.west) + (-0.4, 0)$) -- (Kx.west);
\begin{scope}[on background layer]
\node[fit={(Jt.south west) (J.north east)}, fill=black!20!white, draw, dashed, inner sep=4pt] (Px) {};