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Update Stewart Platform functions

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This commit is contained in:
Thomas Dehaeze
2020-09-01 13:51:25 +02:00
parent de3c8b6ec9
commit 2389e6ba8e
6 changed files with 91 additions and 59 deletions
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8
src/describeStewartPlatform.m
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@@ -46,10 +46,6 @@ switch stewart.joints_F.type
fprintf('- The joints on the fixed based are universal joints\n')
case 2
fprintf('- The joints on the fixed based are spherical joints\n')
case 3
fprintf('- The joints on the fixed based are perfect universal joints\n')
case 4
fprintf('- The joints on the fixed based are perfect spherical joints\n')
end
switch stewart.joints_M.type
@@ -57,10 +53,6 @@ switch stewart.joints_M.type
fprintf('- The joints on the mobile based are universal joints\n')
case 2
fprintf('- The joints on the mobile based are spherical joints\n')
case 3
fprintf('- The joints on the mobile based are perfect universal joints\n')
case 4
fprintf('- The joints on the mobile based are perfect spherical joints\n')
end
fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')

58
src/initializeJointDynamics.m
View File

@@ -55,9 +55,9 @@ switch args.type_F
case 'spherical'
stewart.joints_F.type = 2;
case 'universal_p'
stewart.joints_F.type = 3;
stewart.joints_F.type = 1;
case 'spherical_p'
stewart.joints_F.type = 4;
stewart.joints_F.type = 2;
case 'universal_3dof'
stewart.joints_F.type = 5;
end
@@ -68,37 +68,59 @@ switch args.type_M
case 'spherical'
stewart.joints_M.type = 2;
case 'universal_p'
stewart.joints_M.type = 3;
stewart.joints_M.type = 1;
case 'spherical_p'
stewart.joints_M.type = 4;
stewart.joints_M.type = 2;
case 'spherical_3dof'
stewart.joints_M.type = 6;
end
stewart.joints_M.Kx = zeros(6,1);
stewart.joints_M.Ky = zeros(6,1);
stewart.joints_M.Kz = args.Kz_M;
stewart.joints_M.Kz = zeros(6,1);
stewart.joints_F.Kx = zeros(6,1);
stewart.joints_F.Ky = zeros(6,1);
stewart.joints_F.Kz = args.Kz_F;
stewart.joints_F.Kz = zeros(6,1);
stewart.joints_M.Kf = zeros(6,1);
stewart.joints_M.Kt = zeros(6,1);
stewart.joints_F.Kf = zeros(6,1);
stewart.joints_F.Kt = zeros(6,1);
stewart.joints_M.Cx = zeros(6,1);
stewart.joints_M.Cy = zeros(6,1);
stewart.joints_M.Cz = args.Cz_M;
stewart.joints_M.Cz = zeros(6,1);
stewart.joints_F.Cx = zeros(6,1);
stewart.joints_F.Cy = zeros(6,1);
stewart.joints_F.Cz = args.Cz_F;
stewart.joints_F.Cz = zeros(6,1);
stewart.joints_M.Kf = args.Kf_M;
stewart.joints_M.Kt = args.Kf_M;
stewart.joints_M.Cf = zeros(6,1);
stewart.joints_M.Ct = zeros(6,1);
stewart.joints_F.Cf = zeros(6,1);
stewart.joints_F.Ct = zeros(6,1);
stewart.joints_F.Kf = args.Kf_F;
stewart.joints_F.Kt = args.Kf_F;
if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
stewart.joints_M.Kz = args.Kz_M;
stewart.joints_M.Cz = args.Cz_M;
end
stewart.joints_M.Cf = args.Cf_M;
stewart.joints_M.Ct = args.Cf_M;
if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
stewart.joints_F.Kz = args.Kz_F;
stewart.joints_F.Cz = args.Cz_F;
end
stewart.joints_F.Cf = args.Cf_F;
stewart.joints_F.Ct = args.Cf_F;
if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
stewart.joints_M.Kf = args.Kf_M;
stewart.joints_M.Cf = args.Cf_M;
stewart.joints_M.Kt = args.Kt_M;
stewart.joints_M.Ct = args.Ct_M;
end
if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
stewart.joints_F.Kf = args.Kf_F;
stewart.joints_F.Cf = args.Cf_F;
stewart.joints_F.Kt = args.Kt_F;
stewart.joints_F.Ct = args.Ct_F;
end