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Remove model name

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Thomas Dehaeze
2020-02-18 13:58:27 +01:00
parent 87bdd8f0e2
commit 56e8a120fa
4 changed files with 46 additions and 56 deletions
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kinematics/index.org
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@@ -97,7 +97,7 @@ The three rotations that we define thus corresponds to the Euler U-V-W angles.
We should have the *same behavior* for the Micro-Hexapod on Simscape (same inputs at least).
However, the Bushing Joint makes rotations around mobiles axes (X, Y' and then Z'') and not fixed axes (X, Y and Z).
*** Using Inverse Kinematics and Leg Actuators
*** TODO Using Inverse Kinematics and Leg Actuators
Here, we can use the Inverse Kinematic of the Hexapod to determine the length of each leg in order to obtain some defined translation and rotation of the mobile platform.
The advantages are:
@@ -147,7 +147,7 @@ Otherwise, when the limbs' lengths derived yield complex numbers, then the posit
**** Matlab Implementation
We open the Simulink file.
#+begin_src matlab
open('kinematics/matlab/hexapod_tests.slx')
#+end_src
We load the configuration and set a small =StopTime=.
@@ -182,7 +182,7 @@ We define the wanted position/orientation of the Hexapod under study.
We run the simulation.
#+begin_src matlab
sim('hexapod_tests')
sim()
#+end_src
And we verify that we indeed succeed to go to the wanted position.