Add org-setup-file that all org file links to
This commit is contained in:
@@ -1,262 +1,28 @@
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<?xml version="1.0" encoding="utf-8"?>
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<?xml version="1.0" encoding="utf-8"?>
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<?xml version="1.0" encoding="utf-8"?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-02-25 mar. 18:08 -->
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<!-- 2020-04-17 ven. 09:36 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Stewart Platform - Simscape Model</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<style type="text/css">
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<!--/*--><![CDATA[/*><!--*/
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.title { text-align: center;
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margin-bottom: .2em; }
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.subtitle { text-align: center;
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font-size: medium;
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font-weight: bold;
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margin-top:0; }
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.todo { font-family: monospace; color: red; }
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.done { font-family: monospace; color: green; }
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.priority { font-family: monospace; color: orange; }
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.tag { background-color: #eee; font-family: monospace;
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padding: 2px; font-size: 80%; font-weight: normal; }
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.timestamp { color: #bebebe; }
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.timestamp-kwd { color: #5f9ea0; }
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.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
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.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
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.org-center { margin-left: auto; margin-right: auto; text-align: center; }
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.underline { text-decoration: underline; }
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#postamble p, #preamble p { font-size: 90%; margin: .2em; }
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p.verse { margin-left: 3%; }
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pre {
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border: 1px solid #ccc;
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box-shadow: 3px 3px 3px #eee;
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padding: 8pt;
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font-family: monospace;
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overflow: auto;
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margin: 1.2em;
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}
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pre.src {
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position: relative;
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overflow: visible;
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padding-top: 1.2em;
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}
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pre.src:before {
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display: none;
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position: absolute;
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background-color: white;
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top: -10px;
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right: 10px;
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padding: 3px;
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border: 1px solid black;
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}
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pre.src:hover:before { display: inline;}
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/* Languages per Org manual */
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pre.src-asymptote:before { content: 'Asymptote'; }
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pre.src-awk:before { content: 'Awk'; }
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pre.src-C:before { content: 'C'; }
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/* pre.src-C++ doesn't work in CSS */
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pre.src-clojure:before { content: 'Clojure'; }
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pre.src-css:before { content: 'CSS'; }
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pre.src-D:before { content: 'D'; }
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pre.src-ditaa:before { content: 'ditaa'; }
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pre.src-dot:before { content: 'Graphviz'; }
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pre.src-calc:before { content: 'Emacs Calc'; }
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pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
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pre.src-fortran:before { content: 'Fortran'; }
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pre.src-gnuplot:before { content: 'gnuplot'; }
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pre.src-haskell:before { content: 'Haskell'; }
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pre.src-hledger:before { content: 'hledger'; }
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pre.src-java:before { content: 'Java'; }
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pre.src-js:before { content: 'Javascript'; }
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pre.src-latex:before { content: 'LaTeX'; }
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pre.src-ledger:before { content: 'Ledger'; }
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pre.src-lisp:before { content: 'Lisp'; }
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pre.src-lilypond:before { content: 'Lilypond'; }
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pre.src-lua:before { content: 'Lua'; }
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pre.src-matlab:before { content: 'MATLAB'; }
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pre.src-mscgen:before { content: 'Mscgen'; }
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pre.src-ocaml:before { content: 'Objective Caml'; }
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pre.src-octave:before { content: 'Octave'; }
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pre.src-org:before { content: 'Org mode'; }
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pre.src-oz:before { content: 'OZ'; }
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pre.src-plantuml:before { content: 'Plantuml'; }
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pre.src-processing:before { content: 'Processing.js'; }
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pre.src-python:before { content: 'Python'; }
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pre.src-R:before { content: 'R'; }
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pre.src-ruby:before { content: 'Ruby'; }
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pre.src-sass:before { content: 'Sass'; }
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pre.src-scheme:before { content: 'Scheme'; }
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pre.src-screen:before { content: 'Gnu Screen'; }
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pre.src-sed:before { content: 'Sed'; }
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pre.src-sh:before { content: 'shell'; }
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pre.src-sql:before { content: 'SQL'; }
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pre.src-sqlite:before { content: 'SQLite'; }
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/* additional languages in org.el's org-babel-load-languages alist */
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pre.src-forth:before { content: 'Forth'; }
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pre.src-io:before { content: 'IO'; }
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pre.src-J:before { content: 'J'; }
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pre.src-makefile:before { content: 'Makefile'; }
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pre.src-maxima:before { content: 'Maxima'; }
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pre.src-perl:before { content: 'Perl'; }
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pre.src-picolisp:before { content: 'Pico Lisp'; }
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pre.src-scala:before { content: 'Scala'; }
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pre.src-shell:before { content: 'Shell Script'; }
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pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
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/* additional language identifiers per "defun org-babel-execute"
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in ob-*.el */
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pre.src-cpp:before { content: 'C++'; }
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pre.src-abc:before { content: 'ABC'; }
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pre.src-coq:before { content: 'Coq'; }
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pre.src-groovy:before { content: 'Groovy'; }
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/* additional language identifiers from org-babel-shell-names in
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ob-shell.el: ob-shell is the only babel language using a lambda to put
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the execution function name together. */
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pre.src-bash:before { content: 'bash'; }
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pre.src-csh:before { content: 'csh'; }
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pre.src-ash:before { content: 'ash'; }
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pre.src-dash:before { content: 'dash'; }
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pre.src-ksh:before { content: 'ksh'; }
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pre.src-mksh:before { content: 'mksh'; }
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pre.src-posh:before { content: 'posh'; }
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/* Additional Emacs modes also supported by the LaTeX listings package */
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pre.src-ada:before { content: 'Ada'; }
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pre.src-asm:before { content: 'Assembler'; }
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pre.src-caml:before { content: 'Caml'; }
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pre.src-delphi:before { content: 'Delphi'; }
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pre.src-html:before { content: 'HTML'; }
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pre.src-idl:before { content: 'IDL'; }
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pre.src-mercury:before { content: 'Mercury'; }
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pre.src-metapost:before { content: 'MetaPost'; }
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||||
pre.src-modula-2:before { content: 'Modula-2'; }
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||||
pre.src-pascal:before { content: 'Pascal'; }
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||||
pre.src-ps:before { content: 'PostScript'; }
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||||
pre.src-prolog:before { content: 'Prolog'; }
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||||
pre.src-simula:before { content: 'Simula'; }
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||||
pre.src-tcl:before { content: 'tcl'; }
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||||
pre.src-tex:before { content: 'TeX'; }
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||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
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||||
pre.src-nxml:before { content: 'XML'; }
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||||
/* add a generic configuration mode; LaTeX export needs an additional
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(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
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pre.src-conf:before { content: 'Configuration File'; }
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table { border-collapse:collapse; }
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caption.t-above { caption-side: top; }
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caption.t-bottom { caption-side: bottom; }
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td, th { vertical-align:top; }
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th.org-right { text-align: center; }
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th.org-left { text-align: center; }
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th.org-center { text-align: center; }
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td.org-right { text-align: right; }
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td.org-left { text-align: left; }
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td.org-center { text-align: center; }
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dt { font-weight: bold; }
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.footpara { display: inline; }
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.footdef { margin-bottom: 1em; }
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.figure { padding: 1em; }
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.figure p { text-align: center; }
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.equation-container {
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display: table;
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text-align: center;
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width: 100%;
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}
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.equation {
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vertical-align: middle;
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}
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.equation-label {
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display: table-cell;
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text-align: right;
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vertical-align: middle;
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}
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.inlinetask {
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padding: 10px;
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border: 2px solid gray;
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margin: 10px;
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background: #ffffcc;
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}
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#org-div-home-and-up
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{ text-align: right; font-size: 70%; white-space: nowrap; }
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textarea { overflow-x: auto; }
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.linenr { font-size: smaller }
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.code-highlighted { background-color: #ffff00; }
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.org-info-js_info-navigation { border-style: none; }
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#org-info-js_console-label
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{ font-size: 10px; font-weight: bold; white-space: nowrap; }
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.org-info-js_search-highlight
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{ background-color: #ffff00; color: #000000; font-weight: bold; }
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.org-svg { width: 90%; }
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/*]]>*/-->
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</style>
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<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<script src="./js/jquery.min.js"></script>
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<script src="./js/bootstrap.min.js"></script>
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<script src="./js/jquery.stickytableheaders.min.js"></script>
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<script src="./js/readtheorg.js"></script>
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<script type="text/javascript">
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/*
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@licstart The following is the entire license notice for the
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JavaScript code in this tag.
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Copyright (C) 2012-2020 Free Software Foundation, Inc.
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The JavaScript code in this tag is free software: you can
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redistribute it and/or modify it under the terms of the GNU
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||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
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any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
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||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
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||||
*/
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<!--/*--><![CDATA[/*><!--*/
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function CodeHighlightOn(elem, id)
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{
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var target = document.getElementById(id);
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if(null != target) {
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elem.cacheClassElem = elem.className;
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elem.cacheClassTarget = target.className;
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target.className = "code-highlighted";
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elem.className = "code-highlighted";
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}
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||||
}
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||||
function CodeHighlightOff(elem, id)
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{
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||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
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||||
if(elem.cacheClassTarget)
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target.className = elem.cacheClassTarget;
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}
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||||
/*]]>*///-->
|
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</script>
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<script>
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MathJax = {
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tex: { macros: {
|
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bm: ["\\boldsymbol{#1}",1],
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}
|
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}
|
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<script>MathJax = {
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tex: {
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tags: 'ams',
|
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macros: {bm: ["\\boldsymbol{#1}",1],}
|
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}
|
||||
};
|
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</script>
|
||||
<script type="text/javascript"
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||||
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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||||
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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||||
</head>
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<body>
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||||
<div id="org-div-home-and-up">
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@@ -271,9 +37,9 @@ for the JavaScript code in this tag.
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<ul>
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<li><a href="#orgac25f89">1. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
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<ul>
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<li><a href="#org17eec4d">1.1. Function description</a></li>
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<li><a href="#org93cf646">1.2. Documentation</a></li>
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<li><a href="#org142c995">1.3. Optional Parameters</a></li>
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<li><a href="#org5cdd36d">1.1. Function description</a></li>
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<li><a href="#orge837700">1.2. Documentation</a></li>
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<li><a href="#org312e9a7">1.3. Optional Parameters</a></li>
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<li><a href="#org3622825">1.4. Initialize the Stewart structure</a></li>
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<li><a href="#org7d50d54">1.5. Compute the position of each frame</a></li>
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</ul>
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@@ -282,27 +48,27 @@ for the JavaScript code in this tag.
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<ul>
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<li><a href="#org65fc289">2.1. <code>generateCubicConfiguration</code>: Generate a Cubic Configuration</a>
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<ul>
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<li><a href="#org7e1a61c">2.1.1. Function description</a></li>
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<li><a href="#org9d47e7c">2.1.2. Documentation</a></li>
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||||
<li><a href="#orgf3ef9f0">2.1.3. Optional Parameters</a></li>
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||||
<li><a href="#org5a5b987">2.1.1. Function description</a></li>
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||||
<li><a href="#org40ea23a">2.1.2. Documentation</a></li>
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||||
<li><a href="#org37651aa">2.1.3. Optional Parameters</a></li>
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||||
<li><a href="#orge94a885">2.1.4. Position of the Cube</a></li>
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||||
<li><a href="#orge025784">2.1.5. Compute the pose</a></li>
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<li><a href="#org789a28b">2.1.5. Compute the pose</a></li>
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||||
</ul>
|
||||
</li>
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||||
<li><a href="#orgccb31c6">2.2. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
|
||||
<ul>
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||||
<li><a href="#org7c192dc">2.2.1. Function description</a></li>
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||||
<li><a href="#org542739a">2.2.2. Documentation</a></li>
|
||||
<li><a href="#org2f3445e">2.2.3. Optional Parameters</a></li>
|
||||
<li><a href="#orga173176">2.2.4. Compute the pose</a></li>
|
||||
<li><a href="#org0ba3fa4">2.2.1. Function description</a></li>
|
||||
<li><a href="#org839cae7">2.2.2. Documentation</a></li>
|
||||
<li><a href="#org2e06fba">2.2.3. Optional Parameters</a></li>
|
||||
<li><a href="#orgfac23f3">2.2.4. Compute the pose</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org9944c04">3. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
|
||||
<ul>
|
||||
<li><a href="#org8036919">3.1. Function description</a></li>
|
||||
<li><a href="#orgae953ca">3.2. Documentation</a></li>
|
||||
<li><a href="#org465ebb2">3.1. Function description</a></li>
|
||||
<li><a href="#orgc11609b">3.2. Documentation</a></li>
|
||||
<li><a href="#orge87b302">3.3. Compute the position of the Joints</a></li>
|
||||
<li><a href="#org3a7e3c5">3.4. Compute the strut length and orientation</a></li>
|
||||
<li><a href="#org9e1258f">3.5. Compute the orientation of the Joints</a></li>
|
||||
@@ -310,14 +76,14 @@ for the JavaScript code in this tag.
|
||||
</li>
|
||||
<li><a href="#orgae8d0dc">4. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
|
||||
<ul>
|
||||
<li><a href="#org422cb52">4.1. Function description</a></li>
|
||||
<li><a href="#orge6db36d">4.2. Optional Parameters</a></li>
|
||||
<li><a href="#org9af8ca0">4.1. Function description</a></li>
|
||||
<li><a href="#org335e959">4.2. Optional Parameters</a></li>
|
||||
<li><a href="#org3c2e550">4.3. Add Stiffness and Damping properties of each strut</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org9e8cbfa">5. <code>computeJacobian</code>: Compute the Jacobian Matrix</a>
|
||||
<ul>
|
||||
<li><a href="#org0e1dad9">5.1. Function description</a></li>
|
||||
<li><a href="#org64e795c">5.1. Function description</a></li>
|
||||
<li><a href="#org9bcd9b9">5.2. Compute Jacobian Matrix</a></li>
|
||||
<li><a href="#orgf08eda6">5.3. Compute Stiffness Matrix</a></li>
|
||||
<li><a href="#orgd164132">5.4. Compute Compliance Matrix</a></li>
|
||||
@@ -327,16 +93,16 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#org4674203">6.1. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
|
||||
<ul>
|
||||
<li><a href="#org3f9ec54">6.1.1. Function description</a></li>
|
||||
<li><a href="#org079557b">6.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#org1af6832">6.1.1. Function description</a></li>
|
||||
<li><a href="#org12a2c2b">6.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#org2965fe8">6.1.3. Create the <code>platforms</code> struct</a></li>
|
||||
<li><a href="#org7e1a4d4">6.1.4. Save the <code>platforms</code> struct</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org6b4f1ca">6.2. <code>initializeCylindricalStruts</code>: Define the mass and moment of inertia of cylindrical struts</a>
|
||||
<ul>
|
||||
<li><a href="#orgfa4c069">6.2.1. Function description</a></li>
|
||||
<li><a href="#org5a83934">6.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#org407cf8c">6.2.1. Function description</a></li>
|
||||
<li><a href="#org420f14e">6.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#org3f9f0ef">6.2.3. Create the <code>struts</code> structure</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -346,16 +112,16 @@ for the JavaScript code in this tag.
|
||||
<ul>
|
||||
<li><a href="#org03168fc">7.1. <code>inverseKinematics</code>: Compute Inverse Kinematics</a>
|
||||
<ul>
|
||||
<li><a href="#org76e188e">7.1.1. Function description</a></li>
|
||||
<li><a href="#org137ad87">7.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#orgb7853bd">7.1.1. Function description</a></li>
|
||||
<li><a href="#orge9021eb">7.1.2. Optional Parameters</a></li>
|
||||
<li><a href="#orgbdc5fb1">7.1.3. Theory</a></li>
|
||||
<li><a href="#org8b70a76">7.1.4. Compute</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgf4ebfa3">7.2. <code>forwardKinematicsApprox</code>: Compute the Forward Kinematics</a>
|
||||
<ul>
|
||||
<li><a href="#org1b067b0">7.2.1. Function description</a></li>
|
||||
<li><a href="#org8283c6b">7.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#org37e6edf">7.2.1. Function description</a></li>
|
||||
<li><a href="#org6441308">7.2.2. Optional Parameters</a></li>
|
||||
<li><a href="#orgf17cab9">7.2.3. Computation</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
@@ -443,8 +209,8 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org17eec4d" class="outline-3">
|
||||
<h3 id="org17eec4d"><span class="section-number-3">1.1</span> Function description</h3>
|
||||
<div id="outline-container-org5cdd36d" class="outline-3">
|
||||
<h3 id="org5cdd36d"><span class="section-number-3">1.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeFramesPositions</span>(<span class="org-variable-name">args</span>)
|
||||
@@ -468,8 +234,8 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org93cf646" class="outline-3">
|
||||
<h3 id="org93cf646"><span class="section-number-3">1.2</span> Documentation</h3>
|
||||
<div id="outline-container-orge837700" class="outline-3">
|
||||
<h3 id="orge837700"><span class="section-number-3">1.2</span> Documentation</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
|
||||
<div id="orgebd0f49" class="figure">
|
||||
@@ -480,8 +246,8 @@ This Matlab function is accessible <a href="src/initializeFramesPositions.m">her
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org142c995" class="outline-3">
|
||||
<h3 id="org142c995"><span class="section-number-3">1.3</span> Optional Parameters</h3>
|
||||
<div id="outline-container-org312e9a7" class="outline-3">
|
||||
<h3 id="org312e9a7"><span class="section-number-3">1.3</span> Optional Parameters</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -536,8 +302,8 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7e1a61c" class="outline-4">
|
||||
<h4 id="org7e1a61c"><span class="section-number-4">2.1.1</span> Function description</h4>
|
||||
<div id="outline-container-org5a5b987" class="outline-4">
|
||||
<h4 id="org5a5b987"><span class="section-number-4">2.1.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-2-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateCubicConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -563,8 +329,8 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9d47e7c" class="outline-4">
|
||||
<h4 id="org9d47e7c"><span class="section-number-4">2.1.2</span> Documentation</h4>
|
||||
<div id="outline-container-org40ea23a" class="outline-4">
|
||||
<h4 id="org40ea23a"><span class="section-number-4">2.1.2</span> Documentation</h4>
|
||||
<div class="outline-text-4" id="text-2-1-2">
|
||||
|
||||
<div id="org70070f0" class="figure">
|
||||
@@ -575,8 +341,8 @@ This Matlab function is accessible <a href="src/generateCubicConfiguration.m">he
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf3ef9f0" class="outline-4">
|
||||
<h4 id="orgf3ef9f0"><span class="section-number-4">2.1.3</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org37651aa" class="outline-4">
|
||||
<h4 id="org37651aa"><span class="section-number-4">2.1.3</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-2-1-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -618,8 +384,8 @@ CCm = [Cc(<span class="org-type">:</span>,2), Cc(<span class="org-type">:</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge025784" class="outline-4">
|
||||
<h4 id="orge025784"><span class="section-number-4">2.1.5</span> Compute the pose</h4>
|
||||
<div id="outline-container-org789a28b" class="outline-4">
|
||||
<h4 id="org789a28b"><span class="section-number-4">2.1.5</span> Compute the pose</h4>
|
||||
<div class="outline-text-4" id="text-2-1-5">
|
||||
<p>
|
||||
We can compute the vector of each leg \({}^{C}\hat{\bm{s}}_{i}\) (unit vector from \({}^{C}C_{f}\) to \({}^{C}C_{m}\)).
|
||||
@@ -653,8 +419,8 @@ This Matlab function is accessible <a href="src/generateGeneralConfiguration.m">
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7c192dc" class="outline-4">
|
||||
<h4 id="org7c192dc"><span class="section-number-4">2.2.1</span> Function description</h4>
|
||||
<div id="outline-container-org0ba3fa4" class="outline-4">
|
||||
<h4 id="org0ba3fa4"><span class="section-number-4">2.2.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-2-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateGeneralConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -680,8 +446,8 @@ This Matlab function is accessible <a href="src/generateGeneralConfiguration.m">
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org542739a" class="outline-4">
|
||||
<h4 id="org542739a"><span class="section-number-4">2.2.2</span> Documentation</h4>
|
||||
<div id="outline-container-org839cae7" class="outline-4">
|
||||
<h4 id="org839cae7"><span class="section-number-4">2.2.2</span> Documentation</h4>
|
||||
<div class="outline-text-4" id="text-2-2-2">
|
||||
<p>
|
||||
Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
|
||||
@@ -690,8 +456,8 @@ The radius of the circles can be chosen as well as the angles where the joints a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2f3445e" class="outline-4">
|
||||
<h4 id="org2f3445e"><span class="section-number-4">2.2.3</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org2e06fba" class="outline-4">
|
||||
<h4 id="org2e06fba"><span class="section-number-4">2.2.3</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-2-2-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -708,8 +474,8 @@ The radius of the circles can be chosen as well as the angles where the joints a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga173176" class="outline-4">
|
||||
<h4 id="orga173176"><span class="section-number-4">2.2.4</span> Compute the pose</h4>
|
||||
<div id="outline-container-orgfac23f3" class="outline-4">
|
||||
<h4 id="orgfac23f3"><span class="section-number-4">2.2.4</span> Compute the pose</h4>
|
||||
<div class="outline-text-4" id="text-2-2-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.Fa = zeros(3,6);
|
||||
@@ -741,8 +507,8 @@ This Matlab function is accessible <a href="src/computeJointsPose.m">here</a>.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8036919" class="outline-3">
|
||||
<h3 id="org8036919"><span class="section-number-3">3.1</span> Function description</h3>
|
||||
<div id="outline-container-org465ebb2" class="outline-3">
|
||||
<h3 id="org465ebb2"><span class="section-number-3">3.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJointsPose</span>(<span class="org-variable-name">stewart</span>)
|
||||
@@ -774,8 +540,8 @@ This Matlab function is accessible <a href="src/computeJointsPose.m">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgae953ca" class="outline-3">
|
||||
<h3 id="orgae953ca"><span class="section-number-3">3.2</span> Documentation</h3>
|
||||
<div id="outline-container-orgc11609b" class="outline-3">
|
||||
<h3 id="orgc11609b"><span class="section-number-3">3.2</span> Documentation</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
|
||||
<div id="org20f7106" class="figure">
|
||||
@@ -849,8 +615,8 @@ This Matlab function is accessible <a href="src/initializeStrutDynamics.m">here<
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org422cb52" class="outline-3">
|
||||
<h3 id="org422cb52"><span class="section-number-3">4.1</span> Function description</h3>
|
||||
<div id="outline-container-org9af8ca0" class="outline-3">
|
||||
<h3 id="org9af8ca0"><span class="section-number-3">4.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -872,8 +638,8 @@ This Matlab function is accessible <a href="src/initializeStrutDynamics.m">here<
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge6db36d" class="outline-3">
|
||||
<h3 id="orge6db36d"><span class="section-number-3">4.2</span> Optional Parameters</h3>
|
||||
<div id="outline-container-org335e959" class="outline-3">
|
||||
<h3 id="org335e959"><span class="section-number-3">4.2</span> Optional Parameters</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -910,8 +676,8 @@ This Matlab function is accessible <a href="src/computeJacobian.m">here</a>.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0e1dad9" class="outline-3">
|
||||
<h3 id="org0e1dad9"><span class="section-number-3">5.1</span> Function description</h3>
|
||||
<div id="outline-container-org64e795c" class="outline-3">
|
||||
<h3 id="org64e795c"><span class="section-number-3">5.1</span> Function description</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJacobian</span>(<span class="org-variable-name">stewart</span>)
|
||||
@@ -981,8 +747,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalPlatforms.m
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3f9ec54" class="outline-4">
|
||||
<h4 id="org3f9ec54"><span class="section-number-4">6.1.1</span> Function description</h4>
|
||||
<div id="outline-container-org1af6832" class="outline-4">
|
||||
<h4 id="org1af6832"><span class="section-number-4">6.1.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-6-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalPlatforms</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1015,8 +781,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalPlatforms.m
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org079557b" class="outline-4">
|
||||
<h4 id="org079557b"><span class="section-number-4">6.1.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org12a2c2b" class="outline-4">
|
||||
<h4 id="org12a2c2b"><span class="section-number-4">6.1.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-6-1-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1080,8 +846,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalStruts.m">h
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfa4c069" class="outline-4">
|
||||
<h4 id="orgfa4c069"><span class="section-number-4">6.2.1</span> Function description</h4>
|
||||
<div id="outline-container-org407cf8c" class="outline-4">
|
||||
<h4 id="org407cf8c"><span class="section-number-4">6.2.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-6-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalStruts</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1114,8 +880,8 @@ This Matlab function is accessible <a href="src/initializeCylindricalStruts.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5a83934" class="outline-4">
|
||||
<h4 id="org5a83934"><span class="section-number-4">6.2.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org420f14e" class="outline-4">
|
||||
<h4 id="org420f14e"><span class="section-number-4">6.2.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-6-2-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1184,8 +950,8 @@ This Matlab function is accessible <a href="src/inverseKinematics.m">here</a>.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org76e188e" class="outline-4">
|
||||
<h4 id="org76e188e"><span class="section-number-4">7.1.1</span> Function description</h4>
|
||||
<div id="outline-container-orgb7853bd" class="outline-4">
|
||||
<h4 id="orgb7853bd"><span class="section-number-4">7.1.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-7-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[Li, dLi]</span> = <span class="org-function-name">inverseKinematics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1209,8 +975,8 @@ This Matlab function is accessible <a href="src/inverseKinematics.m">here</a>.
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org137ad87" class="outline-4">
|
||||
<h4 id="org137ad87"><span class="section-number-4">7.1.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-orge9021eb" class="outline-4">
|
||||
<h4 id="orge9021eb"><span class="section-number-4">7.1.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-7-1-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1287,8 +1053,8 @@ This Matlab function is accessible <a href="src/forwardKinematicsApprox.m">here<
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1b067b0" class="outline-4">
|
||||
<h4 id="org1b067b0"><span class="section-number-4">7.2.1</span> Function description</h4>
|
||||
<div id="outline-container-org37e6edf" class="outline-4">
|
||||
<h4 id="org37e6edf"><span class="section-number-4">7.2.1</span> Function description</h4>
|
||||
<div class="outline-text-4" id="text-7-2-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[P, R]</span> = <span class="org-function-name">forwardKinematicsApprox</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
@@ -1311,8 +1077,8 @@ This Matlab function is accessible <a href="src/forwardKinematicsApprox.m">here<
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8283c6b" class="outline-4">
|
||||
<h4 id="org8283c6b"><span class="section-number-4">7.2.2</span> Optional Parameters</h4>
|
||||
<div id="outline-container-org6441308" class="outline-4">
|
||||
<h4 id="org6441308"><span class="section-number-4">7.2.2</span> Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-7-2-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
@@ -1371,7 +1137,7 @@ We then compute the corresponding rotation matrix.
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-02-25 mar. 18:08</p>
|
||||
<p class="date">Created: 2020-04-17 ven. 09:36</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
Reference in New Issue
Block a user