Update .gitignore and add stewart-simscape folder

.gitignore

@@ -1,2 +1,30 @@
-slprj
-Assemblage_grt_rtw
+# Windows default autosave extension
+*.asv
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Packaged app and toolbox files 
+*.mlappinstall 
+*.mltbx 
+  
+# Generated helpsearch folders 
+helpsearch*/ 
+
+# Simulink code generation folders
+slprj/
+sccprj/
+
+# Simulink autosave extension
+*.autosave
+
+# Octave session info
+octave-workspace
+
+# Custom
+Assemblage_grt_rtw/
+Figures/
+.SimulinkProject/

stewart-simscape/getJacobianMatrix.m

@@ -0,0 +1,18 @@
+function J  = getJacobianMatrix(RM,M_pos_base)
+    J = zeros(6);
+
+    J(:, 1:3) = RM;
+    for i = 1:6
+        J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :));
+    end
+
+    function M = getCrossProductMatrix(v)
+        M = zeros(3);
+        M(1, 2) = -v(3);
+        M(1, 3) =  v(2);
+        M(2, 3) = -v(1);
+        M(2, 1) = -M(1, 2);
+        M(3, 1) = -M(1, 3);
+        M(3, 2) = -M(2, 3);
+    end
+end

stewart-simscape/stewart_init.m

@@ -0,0 +1,89 @@
+%% Define some constant values
+deg2rad = pi/180;
+x_axis = [1 0 0];
+y_axis = [0 1 0];
+z_axis = [0 0 1];
+
+%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
+pos_base = zeros(6, 3);
+pos_top = zeros(6, 3);
+
+alpha_b = BP.leg.ang*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
+alpha_t = TP.leg.ang*deg2rad; % +- offset angle from 120 degree spacing on top
+
+height = (stewart.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001; % 2 meter height in home configuration
+
+radius_b = BP.leg.rad*0.001; % rayon emplacement support base
+radius_t = TP.leg.rad*0.001; % top radius in meters
+
+for i = 1:3
+  % base points
+  angle_m_b = (2*pi/3)* (i-1) - alpha_b;
+  angle_p_b = (2*pi/3)* (i-1) + alpha_b;
+  pos_base(2*i-1,:) =  [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0];
+  pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0];
+
+  % top points
+  % Top points are 60 degrees offset
+  angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
+  angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
+  pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
+  pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];
+end
+
+% permute pos_top points so that legs are end points of base and top points
+pos_top = [pos_top(6,:); pos_top(1:5,:)]; %6th point on top connects to 1st on bottom
+pos_top_tranform = pos_top - height*[zeros(6, 2),ones(6, 1)];
+
+%% Compute points w.r.t. to the body frame in a 3x6 matrix
+body_pts = pos_top' - height*[zeros(2,6);ones(1,6)];
+
+%% leg vectors
+legs = pos_top - pos_base;
+leg_length = zeros(6, 1);
+leg_vectors = zeros(6, 3);
+for i = 1:6
+  leg_length(i) = norm(legs(i,:));
+  leg_vectors(i,:)  = legs(i,:) / leg_length(i);
+end
+
+Leg.lenght = 1000*leg_length(1)/1.5;
+
+%% Calculate revolute and cylindrical axes
+rev1 = zeros(6, 3);
+rev2 = zeros(6, 3);
+rev3 = zeros(6, 3);
+rev4 = zeros(6, 3);
+cyl1 = zeros(6, 3);
+for i = 1:6
+  rev1(i,:) = cross(leg_vectors(i,:), z_axis);
+  rev1(i,:) = rev1(i,:) / norm(rev1(i,:));
+  rev3(i,:) = rev1(i,:);
+
+  rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:));
+  rev2(i,:) = rev2(i,:) / norm(rev2(i,:));
+  rev4(i,:) = rev2(i,:);
+
+  cyl1(i,:) = leg_vectors(i,:);
+end
+
+
+%% Coordinate systems
+lower_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]);
+upper_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]);
+
+for i = 1:6
+  lower_leg(i).origin = pos_base(i,:) + (3/8)*legs(i,:);
+  lower_leg(i).end_point = pos_base(i,:) +  (3/4)*legs(i,:);
+  lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
+  upper_leg(i).origin = pos_base(i,:) + (1-3/8)*legs(i,:);
+  upper_leg(i).end_point = pos_base(i,:) +  (1/4)*legs(i,:);
+  upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
+end
+
+%% Position Matrix
+M_pos_base = pos_base + (height+(TP.thickness+Leg.sphere.top+SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
+
+%% Compute Jacobian Matrix
+J  = getJacobianMatrix(leg_vectors, M_pos_base);
+

stewart-simscape/stewart_parameters.m

@@ -0,0 +1,66 @@
+%% Nass height
+stewart = struct();
+stewart.h = 90; %mm
+stewart.jacobian = 174.5; %mm
+
+%% Bottom Plate
+BP = struct();
+BP.rad.int = 0; %mm
+BP.rad.ext = 150; %mm
+BP.thickness = 10; % mm
+BP.leg.rad = 100; %mm
+BP.leg.ang = 5; %deg
+BP.density = 8000; %kg/m^3
+BP.color = [0.5 0.5 0.5]; %rgb
+
+%% TOP Plate
+TP = struct();
+TP.rad.int = 0;%mm
+TP.rad.ext = 100; %mm
+TP.thickness = 10; % mm
+TP.leg.rad = 90; %mm
+TP.leg.ang = 5; %deg
+TP.density = 8000; %kg/m^3
+TP.color = [0.5 0.5 0.5]; %rgb
+
+%% Leg
+Leg = struct();
+Leg.stroke = 80e-6; % m
+Leg.rad.bottom = 8; %mm
+Leg.rad.top = 5; %mm
+Leg.sphere.bottom = 10; % mm
+Leg.sphere.top = 8; % mm
+Leg.density = 8000; %kg/m^3
+Leg.lenght = stewart.h; % mm (approximate)
+Leg.m = Leg.density*2*pi*((Leg.rad.bottom*1e-3)^2)*(Leg.lenght*1e-3); %kg
+Leg.color.bottom = [0.5 0.5 0.5]; %rgb
+Leg.color.top = [0.5 0.5 0.5]; %rgb
+Leg.k.ax = 5e7; % N/m
+Leg.ksi.ax = 10;
+Leg = updateDamping(Leg);
+
+
+%% Sphere
+SP = struct();
+SP.thickness.bottom = 1; %mm
+SP.thickness.top = 1; %mm
+SP.rad.bottom = Leg.sphere.bottom; %mm
+SP.rad.top = Leg.sphere.top; %mm
+SP.height.bottom = 5; %mm
+SP.height.top = 5; %mm
+SP.density.bottom = 8000; %kg/m^3
+SP.density.top = 8000; %kg/m^3
+SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); %kg
+SP.color.bottom = [0.5 0.5 0.5]; %rgb
+SP.color.top = [0.5 0.5 0.5]; %rgb
+SP.k.ax = 0; % N*m/deg
+SP.ksi.ax = 10;
+SP = updateDamping(SP);
+
+%%
+function element = updateDamping(element)
+    field = fieldnames(element.k);
+    for i = 1:length(field)
+        element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
+    end
+end