Remove stewart-simscape to use submodules
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Thomas Dehaeze
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cdc9f9ca70
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9f4bf3dfaa
@ -1,18 +0,0 @@
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function J = getJacobianMatrix(RM,M_pos_base)
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J = zeros(6);
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J(:, 1:3) = RM;
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for i = 1:6
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J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :));
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end
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function M = getCrossProductMatrix(v)
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M = zeros(3);
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M(1, 2) = -v(3);
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M(1, 3) = v(2);
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M(2, 3) = -v(1);
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M(2, 1) = -M(1, 2);
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M(3, 1) = -M(1, 3);
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M(3, 2) = -M(2, 3);
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end
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end
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@ -1,89 +0,0 @@
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%% Define some constant values
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deg2rad = pi/180;
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x_axis = [1 0 0];
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y_axis = [0 1 0];
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z_axis = [0 0 1];
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%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
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pos_base = zeros(6, 3);
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pos_top = zeros(6, 3);
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alpha_b = BP.leg.ang*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
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alpha_t = TP.leg.ang*deg2rad; % +- offset angle from 120 degree spacing on top
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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
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radius_b = BP.leg.rad*0.001; % rayon emplacement support base
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radius_t = TP.leg.rad*0.001; % top radius in meters
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for i = 1:3
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% base points
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angle_m_b = (2*pi/3)* (i-1) - alpha_b;
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angle_p_b = (2*pi/3)* (i-1) + alpha_b;
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pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0];
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pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0];
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% top points
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% Top points are 60 degrees offset
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angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
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angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
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pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
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pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];
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end
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% permute pos_top points so that legs are end points of base and top points
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pos_top = [pos_top(6,:); pos_top(1:5,:)]; %6th point on top connects to 1st on bottom
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pos_top_tranform = pos_top - height*[zeros(6, 2),ones(6, 1)];
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%% Compute points w.r.t. to the body frame in a 3x6 matrix
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body_pts = pos_top' - height*[zeros(2,6);ones(1,6)];
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%% leg vectors
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legs = pos_top - pos_base;
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leg_length = zeros(6, 1);
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leg_vectors = zeros(6, 3);
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for i = 1:6
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leg_length(i) = norm(legs(i,:));
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leg_vectors(i,:) = legs(i,:) / leg_length(i);
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end
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Leg.lenght = 1000*leg_length(1)/1.5;
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%% Calculate revolute and cylindrical axes
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rev1 = zeros(6, 3);
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rev2 = zeros(6, 3);
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rev3 = zeros(6, 3);
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rev4 = zeros(6, 3);
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cyl1 = zeros(6, 3);
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for i = 1:6
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rev1(i,:) = cross(leg_vectors(i,:), z_axis);
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rev1(i,:) = rev1(i,:) / norm(rev1(i,:));
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rev3(i,:) = rev1(i,:);
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rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:));
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rev2(i,:) = rev2(i,:) / norm(rev2(i,:));
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rev4(i,:) = rev2(i,:);
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cyl1(i,:) = leg_vectors(i,:);
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end
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%% Coordinate systems
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lower_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]);
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upper_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]);
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for i = 1:6
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lower_leg(i).origin = pos_base(i,:) + (3/8)*legs(i,:);
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lower_leg(i).end_point = pos_base(i,:) + (3/4)*legs(i,:);
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lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
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upper_leg(i).origin = pos_base(i,:) + (1-3/8)*legs(i,:);
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upper_leg(i).end_point = pos_base(i,:) + (1/4)*legs(i,:);
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upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
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end
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%% Position Matrix
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M_pos_base = pos_base + (height+(TP.thickness+Leg.sphere.top+SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
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%% Compute Jacobian Matrix
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J = getJacobianMatrix(leg_vectors, M_pos_base);
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@ -1,66 +0,0 @@
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%% Nass height
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stewart = struct();
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stewart.h = 90; %mm
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stewart.jacobian = 174.5; %mm
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 0; %mm
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BP.rad.ext = 150; %mm
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BP.thickness = 10; % mm
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BP.leg.rad = 100; %mm
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BP.leg.ang = 5; %deg
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BP.density = 8000; %kg/m^3
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BP.color = [0.5 0.5 0.5]; %rgb
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%% TOP Plate
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TP = struct();
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TP.rad.int = 0;%mm
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TP.rad.ext = 100; %mm
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TP.thickness = 10; % mm
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TP.leg.rad = 90; %mm
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TP.leg.ang = 5; %deg
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TP.density = 8000; %kg/m^3
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TP.color = [0.5 0.5 0.5]; %rgb
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%% Leg
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Leg = struct();
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Leg.stroke = 80e-6; % m
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Leg.rad.bottom = 8; %mm
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Leg.rad.top = 5; %mm
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Leg.sphere.bottom = 10; % mm
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Leg.sphere.top = 8; % mm
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Leg.density = 8000; %kg/m^3
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Leg.lenght = stewart.h; % mm (approximate)
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Leg.m = Leg.density*2*pi*((Leg.rad.bottom*1e-3)^2)*(Leg.lenght*1e-3); %kg
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Leg.color.bottom = [0.5 0.5 0.5]; %rgb
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Leg.color.top = [0.5 0.5 0.5]; %rgb
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Leg.k.ax = 5e7; % N/m
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Leg.ksi.ax = 10;
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Leg = updateDamping(Leg);
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%% Sphere
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SP = struct();
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SP.thickness.bottom = 1; %mm
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SP.thickness.top = 1; %mm
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SP.rad.bottom = Leg.sphere.bottom; %mm
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SP.rad.top = Leg.sphere.top; %mm
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SP.height.bottom = 5; %mm
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SP.height.top = 5; %mm
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SP.density.bottom = 8000; %kg/m^3
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SP.density.top = 8000; %kg/m^3
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SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); %kg
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SP.color.bottom = [0.5 0.5 0.5]; %rgb
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SP.color.top = [0.5 0.5 0.5]; %rgb
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SP.k.ax = 0; % N*m/deg
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SP.ksi.ax = 10;
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SP = updateDamping(SP);
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%%
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function element = updateDamping(element)
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field = fieldnames(element.k);
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for i = 1:length(field)
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element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
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end
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end
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