40 lines
1.8 KiB
Matlab
40 lines
1.8 KiB
Matlab
function [stewart] = generateGeneralConfiguration(stewart, args)
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% generateGeneralConfiguration - Generate a Very General Configuration
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%
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% Syntax: [stewart] = generateGeneralConfiguration(stewart, args)
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%
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% Inputs:
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% - args - Can have the following fields:
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% - FH [1x1] - Height of the position of the fixed joints with respect to the frame {F} [m]
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% - FR [1x1] - Radius of the position of the fixed joints in the X-Y [m]
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% - FTh [6x1] - Angles of the fixed joints in the X-Y plane with respect to the X axis [rad]
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% - MH [1x1] - Height of the position of the mobile joints with respect to the frame {M} [m]
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% - FR [1x1] - Radius of the position of the mobile joints in the X-Y [m]
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% - MTh [6x1] - Angles of the mobile joints in the X-Y plane with respect to the X axis [rad]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
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% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
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arguments
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stewart
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args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
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args.FR (1,1) double {mustBeNumeric, mustBePositive} = 115e-3;
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args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180);
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args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
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args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3;
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args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180);
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end
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Fa = zeros(3,6);
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Mb = zeros(3,6);
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for i = 1:6
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Fa(:,i) = [args.FR*cos(args.FTh(i)); args.FR*sin(args.FTh(i)); args.FH];
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Mb(:,i) = [args.MR*cos(args.MTh(i)); args.MR*sin(args.MTh(i)); -args.MH];
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end
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stewart.platform_F.Fa = Fa;
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stewart.platform_M.Mb = Mb;
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