From e19528610c3a134ab779f8ec6ac5fa61c58d2453 Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Tue, 1 Apr 2025 14:06:53 +0200
Subject: [PATCH] Add simscape model
---
matlab/detail_kinematics_1_geometry.m | 231 ++++++
matlab/detail_kinematics_2_cubic.m | 690 ++++++++++++++++++
matlab/detail_kinematics_3_nano_hexapod.m | 191 +++++
matlab/nano_hexapod_model.slx | Bin 0 -> 57178 bytes
matlab/src/computeJacobian.m | 35 +
matlab/src/computeJointsPose.m | 90 +++
matlab/src/describeStewartPlatform.m | 79 ++
matlab/src/displayArchitecture.m | 252 +++++++
matlab/src/forwardKinematicsApprox.m | 34 +
matlab/src/generateCubicConfiguration.m | 57 ++
matlab/src/generateGeneralConfiguration.m | 39 +
matlab/src/initializeController.m | 17 +
matlab/src/initializeCylindricalPlatforms.m | 59 ++
matlab/src/initializeCylindricalStruts.m | 50 ++
matlab/src/initializeFramesPositions.m | 35 +
matlab/src/initializeJointDynamics.m | 129 ++++
matlab/src/initializeSample.m | 26 +
matlab/src/initializeStewartPlatform.m | 31 +
matlab/src/initializeStewartPose.m | 27 +
matlab/src/initializeStrutDynamics.m | 60 ++
matlab/src/inverseKinematics.m | 36 +
matlab/src/plotCube.m | 58 ++
matlab/src/plotCylindricalPayload.m | 15 +
matlab/subsystems/metrology_6dof.slx | Bin 0 -> 40369 bytes
matlab/subsystems/nano_hexapod_fixed_base.slx | Bin 0 -> 40177 bytes
.../nano_hexapod_mobile_platform.slx | Bin 0 -> 42197 bytes
matlab/subsystems/nano_hexapod_simscape.slx | Bin 0 -> 47918 bytes
matlab/subsystems/nano_hexapod_strut.slx | Bin 0 -> 57110 bytes
28 files changed, 2241 insertions(+)
create mode 100644 matlab/detail_kinematics_1_geometry.m
create mode 100644 matlab/detail_kinematics_2_cubic.m
create mode 100644 matlab/detail_kinematics_3_nano_hexapod.m
create mode 100644 matlab/nano_hexapod_model.slx
create mode 100644 matlab/src/computeJacobian.m
create mode 100644 matlab/src/computeJointsPose.m
create mode 100644 matlab/src/describeStewartPlatform.m
create mode 100644 matlab/src/displayArchitecture.m
create mode 100644 matlab/src/forwardKinematicsApprox.m
create mode 100644 matlab/src/generateCubicConfiguration.m
create mode 100644 matlab/src/generateGeneralConfiguration.m
create mode 100644 matlab/src/initializeController.m
create mode 100644 matlab/src/initializeCylindricalPlatforms.m
create mode 100644 matlab/src/initializeCylindricalStruts.m
create mode 100644 matlab/src/initializeFramesPositions.m
create mode 100644 matlab/src/initializeJointDynamics.m
create mode 100644 matlab/src/initializeSample.m
create mode 100644 matlab/src/initializeStewartPlatform.m
create mode 100644 matlab/src/initializeStewartPose.m
create mode 100644 matlab/src/initializeStrutDynamics.m
create mode 100644 matlab/src/inverseKinematics.m
create mode 100644 matlab/src/plotCube.m
create mode 100644 matlab/src/plotCylindricalPayload.m
create mode 100644 matlab/subsystems/metrology_6dof.slx
create mode 100644 matlab/subsystems/nano_hexapod_fixed_base.slx
create mode 100644 matlab/subsystems/nano_hexapod_mobile_platform.slx
create mode 100644 matlab/subsystems/nano_hexapod_simscape.slx
create mode 100644 matlab/subsystems/nano_hexapod_strut.slx
diff --git a/matlab/detail_kinematics_1_geometry.m b/matlab/detail_kinematics_1_geometry.m
new file mode 100644
index 0000000..d9846c3
--- /dev/null
+++ b/matlab/detail_kinematics_1_geometry.m
@@ -0,0 +1,231 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+addpath('./src/'); % Path for functions
+
+%% Colors for the figures
+colors = colororder;
+
+%% Example of one Stewart platform and associated translational mobility
+L_max = 50e-6; % Maximum actuator stroke (+/-) [m]
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', 100e-3, 'MO_B', -50e-3);
+stewart = generateGeneralConfiguration(stewart, 'FH', 0, 'FR', 100e-3, 'MH', 0, 'MR', 100e-3, ...
+ 'FTh', [-5, 5, 120-5, 120+5, 240-5, 240+5]*(pi/180), ...
+ 'MTh', [-60+5, 60-5, 60+5, 180-5, 180+5, -60-5]*(pi/180));
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', ones(6,1));
+stewart = computeJacobian(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 110e-3, 'Mpr', 110e-3);
+
+displayArchitecture(stewart, 'labels', false, 'frames', false, 'F_color', [0,0,0], 'M_color', [0,0,0], 'L_color', [0,0,0]);
+
+thetas = linspace(0, pi, 100);
+phis = linspace(0, 2*pi, 100);
+rs = zeros(length(thetas), length(phis));
+
+for i = 1:length(thetas)
+ for j = 1:length(phis)
+ Tx = sin(thetas(i))*cos(phis(j));
+ Ty = sin(thetas(i))*sin(phis(j));
+ Tz = cos(thetas(i));
+
+ dL = stewart.kinematics.J*[Tx; Ty; Tz; 0; 0; 0;]; % dL required for 1m displacement in theta/phi direction
+
+ rs(i, j) = L_max/max(abs(dL));
+ end
+end
+
+% Sphere with radius equal to actuator stroke
+[Xs,Ys,Zs] = sphere;
+Xs = 1e6*L_max*Xs;
+Ys = 1e6*L_max*Ys;
+Zs = 1e6*L_max*Zs;
+
+[phi_grid, theta_grid] = meshgrid(phis, thetas);
+X = 1e6 * rs .* sin(theta_grid) .* cos(phi_grid);
+Y = 1e6 * rs .* sin(theta_grid) .* sin(phi_grid);
+Z = 1e6 * rs .* cos(theta_grid);
+
+figure('Renderer', 'painters');
+hold on;
+surf(X, Y, Z, 'FaceColor', 'none', 'LineWidth', 0.1, 'EdgeColor', [0, 0, 0]);
+surf(Xs, Ys, Zs, 'FaceColor', colors(2,:), 'EdgeColor', 'none');
+quiver3(0, 0, 0, 100, 0, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.9);
+quiver3(0, 0, 0, 0, 100, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.9);
+quiver3(0, 0, 0, 0, 0, 100, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.9);
+hold off;
+axis equal;
+grid off;
+axis off;
+view(55, 25);
+
+%% Stewart platform with Vertically oriented struts
+L_max = 50e-6; % Maximum actuator stroke (+/-) [m]
+
+stewart_vert = initializeStewartPlatform();
+stewart_vert = initializeFramesPositions(stewart_vert, 'H', 40e-3, 'MO_B', -20e-3);
+stewart_vert = generateGeneralConfiguration(stewart_vert, 'FH', 0, 'FR', 100e-3, 'MH', 0, 'MR', 100e-3, ...
+ 'FTh', [-25, 25, 120-25, 120+25, 240-25, 240+25]*(pi/180), ...
+ 'MTh', [-60+25, 60-25, 60+25, 180-25, 180+25, -60-25]*(pi/180));
+stewart_vert = computeJointsPose(stewart_vert);
+stewart_vert = initializeStrutDynamics(stewart_vert, 'K', ones(6,1));
+stewart_vert = computeJacobian(stewart_vert);
+stewart_vert = initializeCylindricalPlatforms(stewart_vert, 'Fpr', 110e-3, 'Mpr', 110e-3);
+
+displayArchitecture(stewart_vert, 'labels', false, 'frames', false, 'F_color', colors(1,:), 'M_color', colors(1,:), 'L_color', colors(1,:));
+
+%% Stewart platform with Horizontally oriented struts
+stewart_hori = initializeStewartPlatform();
+stewart_hori = initializeFramesPositions(stewart_hori, 'H', 40e-3, 'MO_B', -20e-3);
+stewart_hori = generateGeneralConfiguration(stewart_hori, 'FH', 0, 'FR', 100e-3, 'MH', 0, 'MR', 100e-3, ...
+ 'FTh', [-5, 5, 120-5, 120+5, 240-5, 240+5]*(pi/180), ...
+ 'MTh', [-60+5, 60-5, 60+5, 180-5, 180+5, -60-5]*(pi/180));
+stewart_hori = computeJointsPose(stewart_hori);
+stewart_hori = initializeStrutDynamics(stewart_hori, 'K', ones(6,1));
+stewart_hori = computeJacobian(stewart_hori);
+stewart_hori = initializeCylindricalPlatforms(stewart_hori, 'Fpr', 110e-3, 'Mpr', 110e-3);
+
+displayArchitecture(stewart_hori, 'labels', false, 'frames', false, 'F_color', colors(2,:), 'M_color', colors(2,:), 'L_color', colors(2,:));
+
+%% Translation mobility for two Stewart platform geometry
+thetas = linspace(0, pi, 50);
+phis = linspace(0, 2*pi, 50);
+rs_vert = zeros(length(thetas), length(phis));
+rs_hori = zeros(length(thetas), length(phis));
+
+for i = 1:length(thetas)
+ for j = 1:length(phis)
+ Tx = sin(thetas(i))*cos(phis(j));
+ Ty = sin(thetas(i))*sin(phis(j));
+ Tz = cos(thetas(i));
+
+ dL = stewart_vert.kinematics.J*[Tx; Ty; Tz; 0; 0; 0;]; % dL required for 1m displacement in theta/phi direction
+ rs_vert(i, j) = L_max/max(abs(dL));
+
+ dL = stewart_hori.kinematics.J*[Tx; Ty; Tz; 0; 0; 0;]; % dL required for 1m displacement in theta/phi direction
+ rs_hori(i, j) = L_max/max(abs(dL));
+ end
+end
+
+[phi_grid, theta_grid] = meshgrid(phis, thetas);
+
+X_vert = 1e6 * rs_vert .* sin(theta_grid) .* cos(phi_grid);
+Y_vert = 1e6 * rs_vert .* sin(theta_grid) .* sin(phi_grid);
+Z_vert = 1e6 * rs_vert .* cos(theta_grid);
+
+X_hori = 1e6 * rs_hori .* sin(theta_grid) .* cos(phi_grid);
+Y_hori = 1e6 * rs_hori .* sin(theta_grid) .* sin(phi_grid);
+Z_hori = 1e6 * rs_hori .* cos(theta_grid);
+
+[Xs,Ys,Zs] = sphere;
+Xs = 1e6*L_max*Xs;
+Ys = 1e6*L_max*Ys;
+Zs = 1e6*L_max*Zs;
+
+figure;
+hold on;
+surf(X_vert, Y_vert, Z_vert, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(1,:));
+surf(X_hori, Y_hori+400, Z_hori, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(2,:));
+quiver3(0, 0, 0, 200, 0, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 0, 0, 0, 200, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 0, 0, 0, 0, 200, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+text(200, 0, 0, '$D_x$', 'FontSize', 10, 'HorizontalAlignment', 'center', 'VerticalAlignment', 'top' );
+text(0, 200, 0, '$D_y$', 'FontSize', 10, 'HorizontalAlignment', 'right', 'VerticalAlignment', 'bottom');
+text(0, 0, 200, '$D_z$', 'FontSize', 10, 'HorizontalAlignment', 'left', 'VerticalAlignment', 'top' );
+quiver3(0, 400, 0, 200, 0, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 400, 0, 0, 200, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 400, 0, 0, 0, 200, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+text(200, 400, 0, '$D_x$', 'FontSize', 10, 'HorizontalAlignment', 'center', 'VerticalAlignment', 'top' );
+text(0, 600, 0, '$D_y$', 'FontSize', 10, 'HorizontalAlignment', 'right', 'VerticalAlignment', 'bottom');
+text(0, 400, 200, '$D_z$', 'FontSize', 10, 'HorizontalAlignment', 'left', 'VerticalAlignment', 'top' );
+hold off;
+axis equal;
+grid off;
+axis off;
+view(105, 15);
+
+%% Stewart platform with struts close to each other
+stewart_close = initializeStewartPlatform();
+stewart_close = initializeFramesPositions(stewart_close, 'H', 100e-3, 'MO_B', 0);
+stewart_close = generateGeneralConfiguration(stewart_close, 'FH', 0, 'FR', 50e-3, 'MH', 0, 'MR', 50e-3, ...
+ 'FTh', [-6, 6, 120-6, 120+6, 240-6, 240+6]*(pi/180), ...
+ 'MTh', [-60+6, 60-6, 60+6, 180-6, 180+6, -60-6]*(pi/180));
+stewart_close = computeJointsPose(stewart_close);
+stewart_close = initializeStrutDynamics(stewart_close, 'K', ones(6,1));
+stewart_close = computeJacobian(stewart_close);
+stewart_close = initializeCylindricalPlatforms(stewart_close, 'Fpr', 110e-3, 'Mpr', 110e-3);
+
+displayArchitecture(stewart_close, 'labels', false, 'frames', false, 'F_color', colors(1,:), 'M_color', colors(1,:), 'L_color', colors(1,:));
+
+%% Stewart platform with struts further away from each other
+stewart_space = initializeStewartPlatform();
+stewart_space = initializeFramesPositions(stewart_space, 'H', 100e-3, 'MO_B', 0);
+stewart_space = generateGeneralConfiguration(stewart_space, 'FH', 0, 'FR', 100e-3, 'MH', 0, 'MR', 100e-3, ...
+ 'FTh', [-6, 6, 120-6, 120+6, 240-6, 240+6]*(pi/180), ...
+ 'MTh', [-60+6, 60-6, 60+6, 180-6, 180+6, -60-6]*(pi/180));
+stewart_space.platform_F.Fa = stewart_space.platform_M.Mb - (stewart_close.platform_M.Mb - stewart_close.platform_F.Fa);
+stewart_space = computeJointsPose(stewart_space);
+stewart_space = initializeStrutDynamics(stewart_space, 'K', ones(6,1));
+stewart_space = computeJacobian(stewart_space);
+stewart_space = initializeCylindricalPlatforms(stewart_space, 'Fpr', 110e-3, 'Mpr', 110e-3);
+
+displayArchitecture(stewart_space, 'labels', false, 'frames', false, 'F_color', colors(2,:), 'M_color', colors(2,:), 'L_color', colors(2,:));
+
+%% Translation mobility for two Stewart platform geometry
+thetas = linspace(0, pi, 50);
+phis = linspace(0, 2*pi, 50);
+rs_close = zeros(length(thetas), length(phis));
+rs_space = zeros(length(thetas), length(phis));
+
+for i = 1:length(thetas)
+ for j = 1:length(phis)
+ Rx = sin(thetas(i))*cos(phis(j));
+ Ry = sin(thetas(i))*sin(phis(j));
+ Rz = cos(thetas(i));
+
+ dL = stewart_close.kinematics.J*[0; 0; 0; Rx; Ry; Rz;];
+ rs_close(i, j) = L_max/max(abs(dL));
+
+ dL = stewart_space.kinematics.J*[0; 0; 0; Rx; Ry; Rz;];
+ rs_space(i, j) = L_max/max(abs(dL));
+ end
+end
+
+[phi_grid, theta_grid] = meshgrid(phis, thetas);
+
+X_close = 1e6 * rs_close .* sin(theta_grid) .* cos(phi_grid);
+Y_close = 1e6 * rs_close .* sin(theta_grid) .* sin(phi_grid);
+Z_close = 1e6 * rs_close .* cos(theta_grid);
+
+X_space = 1e6 * rs_space .* sin(theta_grid) .* cos(phi_grid);
+Y_space = 1e6 * rs_space .* sin(theta_grid) .* sin(phi_grid);
+Z_space = 1e6 * rs_space .* cos(theta_grid);
+
+figure;
+hold on;
+surf(X_close, Y_close, Z_close, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(1,:));
+surf(X_space, Y_space+6000, Z_space, 'FaceColor', 'white', 'LineWidth', 0.2, 'EdgeColor', colors(2,:));
+quiver3(0, 0, 0, 4000, 0, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 0, 0, 0, 4000, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 0, 0, 0, 0, 4000, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+text(4000, 0, 0, '$R_x$', 'FontSize', 10, 'HorizontalAlignment', 'center', 'VerticalAlignment', 'top' );
+text(0, 4000, 0, '$R_y$', 'FontSize', 10, 'HorizontalAlignment', 'right', 'VerticalAlignment', 'bottom');
+text(0, 0, 4000, '$R_z$', 'FontSize', 10, 'HorizontalAlignment', 'left', 'VerticalAlignment', 'top' );
+quiver3(0, 6000, 0, 4000, 0, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 6000, 0, 0, 4000, 0, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+quiver3(0, 6000, 0, 0, 0, 4000, 'k', 'LineWidth', 2, 'MaxHeadSize', 0.7);
+text(4000, 6000, 0, '$R_x$', 'FontSize', 10, 'HorizontalAlignment', 'center', 'VerticalAlignment', 'top');
+text(0, 10000, 0, '$R_y$', 'FontSize', 10, 'HorizontalAlignment', 'right', 'VerticalAlignment', 'bottom');
+text(0, 6000, 4000, '$R_z$', 'FontSize', 10, 'HorizontalAlignment', 'left', 'VerticalAlignment', 'top');
+hold off;
+axis equal;
+grid off;
+axis off;
+view(105, 15);
diff --git a/matlab/detail_kinematics_2_cubic.m b/matlab/detail_kinematics_2_cubic.m
new file mode 100644
index 0000000..6e30455
--- /dev/null
+++ b/matlab/detail_kinematics_2_cubic.m
@@ -0,0 +1,690 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+addpath('./src/'); % Path for functions
+
+%% Colors for the figures
+colors = colororder;
+
+%% Example of a typical "cubic" architecture
+MO_B = -50e-3; % Position {B} with respect to {M} [m]
+
+H = 100e-3; % Height of the Stewart platform [m]
+
+Hc = 100e-3; % Size of the useful part of the cube [m]
+
+FOc = H + MO_B; % Center of the cube with respect to {F}
+ % here positionned at the frame {B}
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', 5e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', ones(6,1));
+stewart = computeJacobian(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 150e-3);
+
+displayArchitecture(stewart, 'labels', false, 'frames', false);
+plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
+
+%% Example of a typical "cubic" architecture
+MO_B = -20e-3; % Position {B} with respect to {M} [m]
+
+H = 40e-3; % Height of the Stewart platform [m]
+
+Hc = 100e-3; % Size of the useful part of the cube [m]
+
+FOc = H + MO_B; % Center of the cube with respect to {F}
+ % here positionned at the frame {B}
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', 5e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', ones(6,1));
+stewart = computeJacobian(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 150e-3);
+
+displayArchitecture(stewart, 'labels', false, 'frames', false);
+plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
+
+%% Cubic Architecture - Effect of the position of frame {A} and {B}
+H = 100e-3; % Height of the Stewart platform [m]
+Hc = 100e-3; % Size of the useful part of the cube [m]
+FOc = H/2; % Center of the cube at the Stewart platform center
+
+%% Frames {A} and {B} at the cube's center
+MO_B = -50e-3; % Position {B} with respect to {M} [m]
+
+stewart_center = initializeStewartPlatform();
+stewart_center = initializeFramesPositions(stewart_center, 'H', H, 'MO_B', MO_B);
+stewart_center = generateCubicConfiguration(stewart_center, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', 5e-3);
+stewart_center = computeJointsPose(stewart_center);
+stewart_center = initializeStrutDynamics(stewart_center, 'K', ones(6,1));
+stewart_center = computeJacobian(stewart_center);
+stewart_center = initializeCylindricalPlatforms(stewart_center, 'Fpr', 150e-3, 'Mpr', 150e-3);
+
+displayArchitecture(stewart_center, 'labels', false, 'frames', true);
+plotCube(stewart_center, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
+
+%% Frames {A} and {B} offset from the cube's center
+MO_B = 50e-3; % Position {B} with respect to {M} [m]
+
+stewart_offset = initializeStewartPlatform();
+stewart_offset = initializeFramesPositions(stewart_offset, 'H', H, 'MO_B', MO_B);
+stewart_offset = generateCubicConfiguration(stewart_offset, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', 5e-3);
+stewart_offset = computeJointsPose(stewart_offset);
+stewart_offset = initializeStrutDynamics(stewart_offset, 'K', 2*ones(6,1));
+stewart_offset = computeJacobian(stewart_offset);
+stewart_offset = initializeCylindricalPlatforms(stewart_offset, 'Fpr', 150e-3, 'Mpr', 150e-3);
+
+displayArchitecture(stewart_offset, 'labels', false, 'frames', true);
+plotCube(stewart_offset, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
+
+%% With cubic configuration
+H = 100e-3; % Height of the Stewart platform [m]
+Hc = 100e-3; % Size of the useful part of the cube [m]
+FOc = 50e-3; % Center of the cube at the Stewart platform center
+MO_B = -50e-3; % Position {B} with respect to {M} [m]
+MHb = 0;
+
+stewart_cubic = initializeStewartPlatform();
+stewart_cubic = initializeFramesPositions(stewart_cubic, 'H', H, 'MO_B', MO_B);
+stewart_cubic = generateCubicConfiguration(stewart_cubic, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', MHb);
+stewart_cubic = computeJointsPose(stewart_cubic);
+stewart_cubic = initializeStrutDynamics(stewart_cubic, 'K', ones(6,1));
+stewart_cubic = computeJacobian(stewart_cubic);
+stewart_cubic = initializeCylindricalPlatforms(stewart_cubic, 'Fpr', 150e-3, 'Mpr', 150e-3);
+
+% Let's now define the actuator stroke.
+L_max = 50e-6; % [m]
+
+thetas = linspace(0, pi, 100);
+phis = linspace(0, 2*pi, 200);
+rs = zeros(length(thetas), length(phis));
+
+for i = 1:length(thetas)
+ for j = 1:length(phis)
+ Tx = sin(thetas(i))*cos(phis(j));
+ Ty = sin(thetas(i))*sin(phis(j));
+ Tz = cos(thetas(i));
+
+ dL = stewart_cubic.kinematics.J*[Tx; Ty; Tz; 0; 0; 0;]; % dL required for 1m displacement in theta/phi direction
+
+ rs(i, j) = L_max/max(abs(dL));
+ % rs(i, j) = max(abs([dL(dL<0)*L_min; dL(dL>=0)*L_max]));
+ end
+end
+
+% Get circle that fits inside the accessible space
+min(min(rs))
+max(max(rs))
+
+[phi_grid, theta_grid] = meshgrid(phis, thetas);
+X = 1e6 * rs .* sin(theta_grid) .* cos(phi_grid);
+Y = 1e6 * rs .* sin(theta_grid) .* sin(phi_grid);
+Z = 1e6 * rs .* cos(theta_grid);
+
+figure;
+s = surf(X, Y, Z, 'FaceColor', 'white');
+s.EdgeColor = colors(1,:);
+axis equal;
+grid on;
+xlabel('X Translation [$\mu$m]'); ylabel('Y Translation [$\mu$m]'); zlabel('Z Translation [$\mu$m]');
+xlim(5e6*[-L_max, L_max]); ylim(5e6*[-L_max, L_max]); zlim(5e6*[-L_max, L_max]);
+
+H = 200e-3; % height of the Stewart platform [m]
+MO_B = -10e-3; % Position {B} with respect to {M} [m]
+
+Hc = 2.5*H; % Size of the useful part of the cube [m]
+FOc = H + MO_B; % Center of the cube with respect to {F}
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 25e-3, 'MHb', 25e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', 1e6*ones(6,1), 'C', 1e1*ones(6,1));
+stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 1.2*max(vecnorm(stewart.platform_F.Fa)), ...
+ 'Mpm', 10, ...
+ 'Mph', 20e-3, ...
+ 'Mpr', 1.2*max(vecnorm(stewart.platform_M.Mb)));
+
+stewart = initializeCylindricalStruts(stewart, 'Fsm', 1e-3, 'Msm', 1e-3);
+stewart = initializeInertialSensor(stewart);
+
+ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'none');
+controller = initializeController('type', 'open-loop');
+
+displayArchitecture(stewart, 'labels', false, 'view', 'all');
+
+open('stewart_platform_model.slx')
+
+%% Options for Linearized
+options = linearizeOptions;
+options.SampleTime = 0;
+
+%% Name of the Simulink File
+mdl = 'stewart_platform_model';
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
+
+%% Run the linearization
+G = linearize(mdl, io, options);
+G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
+
+Gc = inv(stewart.kinematics.J)*G*inv(stewart.kinematics.J');
+Gc = inv(stewart.kinematics.J)*G*stewart.kinematics.J;
+Gc.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
+Gc.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
+
+freqs = logspace(1, 3, 500);
+
+figure;
+
+ax1 = subplot(2, 2, 1);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(Gc(1, 1), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(2, 2), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(3, 3), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+ax3 = subplot(2, 2, 3);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p4 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(1, 1), freqs, 'Hz'))));
+p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(2, 2), freqs, 'Hz'))));
+p3 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(3, 3), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2, p3, p4], {'$D_x/F_x$','$D_y/F_y$', '$D_z/F_z$', '$D_i/F_j$'})
+
+ax2 = subplot(2, 2, 2);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(Gc(4, 4), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(5, 5), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(6, 6), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+ax4 = subplot(2, 2, 4);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p4 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(4, 4), freqs, 'Hz'))));
+p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(5, 5), freqs, 'Hz'))));
+p3 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(6, 6), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2, p3, p4], {'$R_x/M_x$','$R_y/M_y$', '$R_z/M_z$', '$R_i/M_j$'})
+
+linkaxes([ax1,ax2,ax3,ax4],'x');
+
+H = 200e-3; % height of the Stewart platform [m]
+MO_B = -100e-3; % Position {B} with respect to {M} [m]
+
+Hc = 2.5*H; % Size of the useful part of the cube [m]
+FOc = H + MO_B; % Center of the cube with respect to {F}
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 25e-3, 'MHb', 25e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', 1e6*ones(6,1), 'C', 1e1*ones(6,1));
+stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 1.2*max(vecnorm(stewart.platform_F.Fa)), ...
+ 'Mpm', 10, ...
+ 'Mph', 20e-3, ...
+ 'Mpr', 1.2*max(vecnorm(stewart.platform_M.Mb)));
+
+stewart = initializeCylindricalStruts(stewart, 'Fsm', 1e-3, 'Msm', 1e-3);
+stewart = initializeInertialSensor(stewart);
+
+ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'none');
+controller = initializeController('type', 'open-loop');
+
+displayArchitecture(stewart, 'labels', false, 'view', 'all');
+
+open('stewart_platform_model.slx')
+
+%% Options for Linearized
+options = linearizeOptions;
+options.SampleTime = 0;
+
+%% Name of the Simulink File
+mdl = 'stewart_platform_model';
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
+
+%% Run the linearization
+G = linearize(mdl, io, options);
+G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
+
+Gc = inv(stewart.kinematics.J)*G*inv(stewart.kinematics.J');
+Gc.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
+Gc.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
+
+freqs = logspace(1, 3, 500);
+
+figure;
+
+ax1 = subplot(2, 2, 1);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(Gc(1, 1), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(2, 2), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(3, 3), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+ax3 = subplot(2, 2, 3);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p4 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(1, 1), freqs, 'Hz'))));
+p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(2, 2), freqs, 'Hz'))));
+p3 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(3, 3), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2, p3, p4], {'$D_x/F_x$','$D_y/F_y$', '$D_z/F_z$', '$D_i/F_j$'})
+
+ax2 = subplot(2, 2, 2);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(Gc(4, 4), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(5, 5), freqs, 'Hz'))));
+plot(freqs, abs(squeeze(freqresp(Gc(6, 6), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+ax4 = subplot(2, 2, 4);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p4 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(4, 4), freqs, 'Hz'))));
+p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(5, 5), freqs, 'Hz'))));
+p3 = plot(freqs, 180/pi*angle(squeeze(freqresp(Gc(6, 6), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2, p3, p4], {'$R_x/M_x$','$R_y/M_y$', '$R_z/M_z$', '$R_i/M_j$'})
+
+linkaxes([ax1,ax2,ax3,ax4],'x');
+
+H = 200e-3; % height of the Stewart platform [m]
+MO_B = -10e-3; % Position {B} with respect to {M} [m]
+Hc = 2.5*H; % Size of the useful part of the cube [m]
+FOc = H + MO_B; % Center of the cube with respect to {F}
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 25e-3, 'MHb', 25e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', 1e6*ones(6,1), 'C', 1e1*ones(6,1));
+stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 1.2*max(vecnorm(stewart.platform_F.Fa)), ...
+ 'Mpm', 10, ...
+ 'Mph', 20e-3, ...
+ 'Mpr', 1.2*max(vecnorm(stewart.platform_M.Mb)));
+stewart = initializeCylindricalStruts(stewart, 'Fsm', 1e-3, 'Msm', 1e-3);
+stewart = initializeInertialSensor(stewart);
+
+ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'none');
+controller = initializeController('type', 'open-loop');
+
+disturbances = initializeDisturbances();
+references = initializeReferences(stewart);
+
+displayArchitecture(stewart, 'labels', false, 'view', 'all');
+
+open('stewart_platform_model.slx')
+
+%% Options for Linearized
+options = linearizeOptions;
+options.SampleTime = 0;
+
+%% Name of the Simulink File
+mdl = 'stewart_platform_model';
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
+
+%% Run the linearization
+G = linearize(mdl, io, options);
+G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
+
+freqs = logspace(1, 3, 1000);
+
+figure;
+
+ax1 = subplot(2, 1, 1);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+ax3 = subplot(2, 1, 2);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2], {'$L_i/\tau_i$', '$L_i/\tau_j$'})
+
+linkaxes([ax1,ax2],'x');
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'Taum'); io_i = io_i + 1; % Force Sensor Outputs [N]
+
+%% Run the linearization
+G = linearize(mdl, io, options);
+G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
+
+freqs = logspace(1, 3, 500);
+
+figure;
+
+ax1 = subplot(2, 1, 1);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
+
+ax3 = subplot(2, 1, 2);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2], {'$F_{m,i}/\tau_i$', '$F_{m,i}/\tau_j$'})
+
+linkaxes([ax1,ax2],'x');
+
+H = 200e-3; % height of the Stewart platform [m]
+MO_B = -10e-3; % Position {B} with respect to {M} [m]
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateGeneralConfiguration(stewart, 'FR', 250e-3, 'MR', 150e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', 1e6*ones(6,1), 'C', 1e1*ones(6,1));
+stewart = initializeJointDynamics(stewart, 'type_F', 'universal', 'type_M', 'spherical');
+stewart = computeJacobian(stewart);
+stewart = initializeStewartPose(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 1.2*max(vecnorm(stewart.platform_F.Fa)), ...
+ 'Mpm', 10, ...
+ 'Mph', 20e-3, ...
+ 'Mpr', 1.2*max(vecnorm(stewart.platform_M.Mb)));
+stewart = initializeCylindricalStruts(stewart, 'Fsm', 1e-3, 'Msm', 1e-3);
+stewart = initializeInertialSensor(stewart);
+
+ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'none');
+controller = initializeController('type', 'open-loop');
+
+displayArchitecture(stewart, 'labels', false, 'view', 'all');
+
+open('stewart_platform_model.slx')
+
+%% Options for Linearized
+options = linearizeOptions;
+options.SampleTime = 0;
+
+%% Name of the Simulink File
+mdl = 'stewart_platform_model';
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
+
+%% Run the linearization
+G = linearize(mdl, io, options);
+G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6'};
+
+freqs = logspace(1, 3, 1000);
+
+figure;
+
+ax1 = subplot(2, 1, 1);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]);
+
+ax3 = subplot(2, 1, 2);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2], {'$L_i/\tau_i$', '$L_i/\tau_j$'})
+
+linkaxes([ax1,ax2],'x');
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
+io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'Taum'); io_i = io_i + 1; % Force Sensor Outputs [N]
+
+%% Run the linearization
+G = linearize(mdl, io, options);
+G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Fm1', 'Fm2', 'Fm3', 'Fm4', 'Fm5', 'Fm6'};
+
+freqs = logspace(1, 3, 500);
+
+figure;
+
+ax1 = subplot(2, 1, 1);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ plot(freqs, abs(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+plot(freqs, abs(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude [N/N]'); set(gca, 'XTickLabel',[]);
+
+ax3 = subplot(2, 1, 2);
+hold on;
+for i = 1:6
+ for j = i+1:6
+ p2 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(i, j), freqs, 'Hz'))), 'k-');
+ end
+end
+set(gca,'ColorOrderIndex',1);
+p1 = plot(freqs, 180/pi*angle(squeeze(freqresp(G(1, 1), freqs, 'Hz'))));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+ylabel('Phase [deg]'); xlabel('Frequency [Hz]');
+ylim([-180, 180]);
+yticks([-180, -90, 0, 90, 180]);
+legend([p1, p2], {'$F_{m,i}/\tau_i$', '$F_{m,i}/\tau_j$'})
+
+linkaxes([ax1,ax2],'x');
+
+%% Cubic configurations with center of the cube above the top platform
+H = 100e-3; % height of the Stewart platform [m]
+MO_B = 20e-3; % Position {B} with respect to {M} [m]
+FOc = H + MO_B; % Center of the cube with respect to {F}
+
+%% Small cube
+Hc = 2*MO_B; % Size of the useful part of the cube [m]
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', 5e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', ones(6,1));
+stewart = computeJacobian(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 1.1*max(vecnorm(stewart.platform_F.Fa)), 'Mpr', 1.1*max(vecnorm(stewart.platform_M.Mb)));
+
+%% Example of a cubic architecture with cube's center above the top platform - Small cube size
+displayArchitecture(stewart, 'labels', false, 'frames', false);
+plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
+scatter3(0, 0, FOc, 200, 'kh');
+
+%% Example of a cubic architecture with cube's center above the top platform - Medium cube size
+Hc = H + 2*MO_B; % Size of the useful part of the cube [m]
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', 5e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', ones(6,1));
+stewart = computeJacobian(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 1.1*max(vecnorm(stewart.platform_F.Fa)), 'Mpr', 1.1*max(vecnorm(stewart.platform_M.Mb)));
+
+displayArchitecture(stewart, 'labels', false, 'frames', false);
+plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
+scatter3(0, 0, FOc, 200, 'kh');
+
+%% Example of a cubic architecture with cube's center above the top platform - Large cube size
+Hc = 2*(H + MO_B); % Size of the useful part of the cube [m]
+
+stewart = initializeStewartPlatform();
+stewart = initializeFramesPositions(stewart, 'H', H, 'MO_B', MO_B);
+stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 5e-3, 'MHb', 5e-3);
+stewart = computeJointsPose(stewart);
+stewart = initializeStrutDynamics(stewart, 'K', ones(6,1));
+stewart = computeJacobian(stewart);
+stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 1.1*max(vecnorm(stewart.platform_F.Fa)), 'Mpr', 1.1*max(vecnorm(stewart.platform_M.Mb)));
+
+displayArchitecture(stewart, 'labels', false, 'frames', false);
+plotCube(stewart, 'Hc', Hc, 'FOc', FOc, 'color', [0,0,0,0.5], 'link_to_struts', true);
+scatter3(0, 0, FOc, 200, 'kh');
diff --git a/matlab/detail_kinematics_3_nano_hexapod.m b/matlab/detail_kinematics_3_nano_hexapod.m
new file mode 100644
index 0000000..c3a13bb
--- /dev/null
+++ b/matlab/detail_kinematics_3_nano_hexapod.m
@@ -0,0 +1,191 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+addpath('./src/'); % Path for functions
+
+%% Colors for the figures
+colors = colororder;
+
+%% Obtained Nano Hexapod Design
+nano_hexapod = initializeStewartPlatform();
+nano_hexapod = initializeFramesPositions(nano_hexapod, ...
+ 'H', 95e-3, ...
+ 'MO_B', 150e-3);
+
+nano_hexapod = generateGeneralConfiguration(nano_hexapod, ...
+ 'FH', 15e-3, ...
+ 'FR', 120e-3, ...
+ 'FTh', [220, 320, 340, 80, 100, 200]*(pi/180), ...
+ 'MH', 15e-3, ...
+ 'MR', 110e-3, ...
+ 'MTh', [255, 285, 15, 45, 135, 165]*(pi/180));
+nano_hexapod = computeJointsPose(nano_hexapod);
+nano_hexapod = initializeStrutDynamics(nano_hexapod, 'K', ones(6,1));
+nano_hexapod = computeJacobian(nano_hexapod);
+nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpr', 130e-3, 'Mpr', 120e-3);
+
+displayArchitecture(nano_hexapod, 'labels', true);
+
+max_translation = 50e-6;
+max_rotation = 50e-6;
+
+Dxs = linspace(-max_translation, max_translation, 3);
+Dys = linspace(-max_translation, max_translation, 3);
+Dzs = linspace(-max_translation, max_translation, 3);
+Rxs = linspace(-max_rotation, max_rotation, 3);
+Rys = linspace(-max_rotation, max_rotation, 3);
+
+L_min = 0;
+L_max = 0;
+
+for Dx = Dxs
+for Dy = Dys
+for Dz = Dzs
+for Rx = Rxs
+for Ry = Rys
+ ARB = [ cos(Ry) 0 sin(Ry);
+ 0 1 0;
+ -sin(Ry) 0 cos(Ry)] * ...
+ [ 1 0 0;
+ 0 cos(Rx) -sin(Rx);
+ 0 sin(Rx) cos(Rx)];
+
+ [~, Ls] = inverseKinematics(nano_hexapod, 'AP', [Dx;Dy;Dz], 'ARB', ARB);
+
+ if min(Ls) < L_min
+ L_min = min(Ls);
+ end
+ if max(Ls) > L_max
+ L_max = max(Ls);
+ end
+end
+end
+end
+end
+end
+
+sprintf('Actuator stroke should be from %.0f um to %.0f um', 1e6*L_min, 1e6*L_max)
+
+%% Compute mobility in translation with combined angular motion
+% L_max = 100e-6; % Actuator Stroke (+/-)
+
+% Direction of motion (spherical coordinates)
+thetas = linspace(0, pi, 100);
+phis = linspace(0, 2*pi, 100);
+
+% Considered Rotations
+Rxs = linspace(-max_rotation, max_rotation, 3);
+Rys = linspace(-max_rotation, max_rotation, 3);
+
+% Maximum distance that can be reached in the direction of motion
+% Considering combined angular motion and limited actuator stroke
+rs = zeros(length(thetas), length(phis));
+worst_rx_ry = zeros(length(thetas), length(phis), 2);
+
+for i = 1:length(thetas)
+ for j = 1:length(phis)
+ % Compute unitary motion in the considered direction
+ Tx = sin(thetas(i))*cos(phis(j));
+ Ty = sin(thetas(i))*sin(phis(j));
+ Tz = cos(thetas(i));
+ % Start without considering rotations
+ dL_lin = nano_hexapod.kinematics.J*[Tx; Ty; Tz; 0; 0; 0];
+ % Strut motion for maximum displacement in the considered direction
+ dL_lin_max = L_max*dL_lin/max(abs(dL_lin));
+
+ % Find rotation that gives worst case stroke
+ dL_worst = max(abs(dL_lin_max)); % This should be equal to L_max
+ dL_rot_max = zeros(6,1);
+ % Perform (small) rotations, and find the (worst) case requiring maximum strut motion
+ for Rx = Rxs
+ for Ry = Rys
+ dL_rot = nano_hexapod.kinematics.J*[0; 0; 0; Rx; Ry; 0];
+ if max(abs(dL_lin_max + dL_rot)) > dL_worst
+ dL_worst = max(abs(dL_lin_max + dL_rot));
+ dL_rot_max = dL_rot;
+ worst_rx_ry(i,j,:) = [Rx, Ry];
+ end
+ end
+ end
+
+ stroke_ratio = min(abs([( L_max - dL_rot_max) ./ dL_lin_max; (-L_max - dL_rot_max) ./ dL_lin_max]));
+ dL_real = dL_lin_max*stroke_ratio + dL_rot_max;
+
+ % % Obtained maximum displacement in the considered direction with angular motion
+ % rs(i, j) = stroke_ratio*max(abs(dL_lin_max));
+ rs(i, j) = stroke_ratio*L_max/max(abs(dL_lin));
+ end
+end
+
+min(min(rs))
+max(max(rs))
+
+[phi_grid, theta_grid] = meshgrid(phis, thetas);
+X = 1e6 * rs .* sin(theta_grid) .* cos(phi_grid);
+Y = 1e6 * rs .* sin(theta_grid) .* sin(phi_grid);
+Z = 1e6 * rs .* cos(theta_grid);
+
+vertices = 1e6*max_translation*[
+ -1 -1 -1; % vertex 1
+ 1 -1 -1; % vertex 2
+ 1 1 -1; % vertex 3
+ -1 1 -1; % vertex 4
+ -1 -1 1; % vertex 5
+ 1 -1 1; % vertex 6
+ 1 1 1; % vertex 7
+ -1 1 1 % vertex 8
+];
+
+% Define the faces using the vertex indices
+faces = [
+ 1 2 3 4; % bottom face
+ 5 6 7 8; % top face
+ 1 2 6 5; % front face
+ 2 3 7 6; % right face
+ 3 4 8 7; % back face
+ 4 1 5 8 % left face
+];
+
+figure;
+hold on;
+s = surf(X, Y, Z, 'FaceColor', 'none');
+s.EdgeColor = colors(2, :);
+patch('Vertices', vertices, 'Faces', faces, ...
+ 'FaceColor', [0.7 0.7 0.7], ...
+ 'EdgeColor', 'black', ...
+ 'FaceAlpha', 1);
+hold off;
+axis equal;
+grid on;
+xlabel('X Translation [$\mu$m]'); ylabel('Y Translation [$\mu$m]'); zlabel('Z Translation [$\mu$m]');
+xlim(2e6*[-L_max, L_max]); ylim(2e6*[-L_max, L_max]); zlim(2e6*[-L_max, L_max]);
+
+%% Estimation of the required flexible joint angular stroke
+max_angles = zeros(1,6);
+
+% Compute initial strut orientation
+nano_hexapod = computeJointsPose(nano_hexapod, 'AP', zeros(3,1), 'ARB', eye(3));
+As = nano_hexapod.geometry.As;
+
+% Only consider translations, but add maximum expected top platform rotation
+for i = 1:length(thetas)
+ for j = 1:length(phis)
+ % Maximum translations
+ Tx = rs(i,j)*sin(thetas(i))*cos(phis(j));
+ Ty = rs(i,j)*sin(thetas(i))*sin(phis(j));
+ Tz = rs(i,j)*cos(thetas(i));
+
+ nano_hexapod = computeJointsPose(nano_hexapod, 'AP', [Tx; Ty; Tz], 'ARB', eye(3));
+
+ angles = acos(dot(As, nano_hexapod.geometry.As));
+ larger_angles = abs(angles) > max_angles;
+ max_angles(larger_angles) = angles(larger_angles);
+ end
+end
+
+sprintf('Maximum flexible joint angle is %.1f mrad', 1e3*max(max_angles))
diff --git a/matlab/nano_hexapod_model.slx b/matlab/nano_hexapod_model.slx
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diff --git a/matlab/src/computeJacobian.m b/matlab/src/computeJacobian.m
new file mode 100644
index 0000000..a1c76d5
--- /dev/null
+++ b/matlab/src/computeJacobian.m
@@ -0,0 +1,35 @@
+function [stewart] = computeJacobian(stewart)
+% computeJacobian -
+%
+% Syntax: [stewart] = computeJacobian(stewart)
+%
+% Inputs:
+% - stewart - With at least the following fields:
+% - geometry.As [3x6] - The 6 unit vectors for each strut expressed in {A}
+% - geometry.Ab [3x6] - The 6 position of the joints bi expressed in {A}
+% - actuators.K [6x1] - Total stiffness of the actuators
+%
+% Outputs:
+% - stewart - With the 3 added field:
+% - kinematics.J [6x6] - The Jacobian Matrix
+% - kinematics.K [6x6] - The Stiffness Matrix
+% - kinematics.C [6x6] - The Compliance Matrix
+
+assert(isfield(stewart.geometry, 'As'), 'stewart.geometry should have attribute As')
+As = stewart.geometry.As;
+
+assert(isfield(stewart.geometry, 'Ab'), 'stewart.geometry should have attribute Ab')
+Ab = stewart.geometry.Ab;
+
+assert(isfield(stewart.actuators, 'k'), 'stewart.actuators should have attribute k')
+Ki = stewart.actuators.k*eye(6);
+
+J = [As' , cross(Ab, As)'];
+
+K = J'*Ki*J;
+
+C = inv(K);
+
+stewart.kinematics.J = J;
+stewart.kinematics.K = K;
+stewart.kinematics.C = C;
diff --git a/matlab/src/computeJointsPose.m b/matlab/src/computeJointsPose.m
new file mode 100644
index 0000000..5520000
--- /dev/null
+++ b/matlab/src/computeJointsPose.m
@@ -0,0 +1,90 @@
+function [stewart] = computeJointsPose(stewart, args)
+% computeJointsPose -
+%
+% Syntax: [stewart] = computeJointsPose(stewart, args)
+%
+% Inputs:
+% - stewart - A structure with the following fields
+% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
+% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
+% - platform_F.FO_A [3x1] - Position of {A} with respect to {F}
+% - platform_M.MO_B [3x1] - Position of {B} with respect to {M}
+% - geometry.FO_M [3x1] - Position of {M} with respect to {F}
+% - args - Can have the following fields:
+% - AP [3x1] - The wanted position of {B} with respect to {A}
+% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+%
+% Outputs:
+% - stewart - A structure with the following added fields
+% - geometry.Aa [3x6] - The i'th column is the position of ai with respect to {A}
+% - geometry.Ab [3x6] - The i'th column is the position of bi with respect to {A}
+% - geometry.Ba [3x6] - The i'th column is the position of ai with respect to {B}
+% - geometry.Bb [3x6] - The i'th column is the position of bi with respect to {B}
+% - geometry.l [6x1] - The i'th element is the initial length of strut i
+% - geometry.As [3x6] - The i'th column is the unit vector of strut i expressed in {A}
+% - geometry.Bs [3x6] - The i'th column is the unit vector of strut i expressed in {B}
+% - struts_F.l [6x1] - Length of the Fixed part of the i'th strut
+% - struts_M.l [6x1] - Length of the Mobile part of the i'th strut
+% - platform_F.FRa [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the bottom of the i'th strut from {F}
+% - platform_M.MRb [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the top of the i'th strut from {M}
+
+arguments
+ stewart
+ args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
+ args.ARB (3,3) double {mustBeNumeric} = eye(3)
+end
+
+assert(isfield(stewart.platform_F, 'Fa'), 'stewart.platform_F should have attribute Fa')
+Fa = stewart.platform_F.Fa;
+
+assert(isfield(stewart.platform_M, 'Mb'), 'stewart.platform_M should have attribute Mb')
+Mb = stewart.platform_M.Mb;
+
+assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A')
+FO_A = stewart.platform_F.FO_A;
+
+assert(isfield(stewart.platform_M, 'MO_B'), 'stewart.platform_M should have attribute MO_B')
+MO_B = stewart.platform_M.MO_B;
+
+assert(isfield(stewart.geometry, 'FO_M'), 'stewart.geometry should have attribute FO_M')
+FO_M = stewart.geometry.FO_M;
+
+Aa = Fa - repmat(FO_A, [1, 6]);
+Bb = Mb - repmat(MO_B, [1, 6]);
+
+Ab = Bb - repmat(-MO_B-FO_M+FO_A, [1, 6]);
+Ba = Aa - repmat( MO_B+FO_M-FO_A, [1, 6]);
+
+Ab = args.ARB *Bb - repmat(-args.AP, [1, 6]);
+Ba = args.ARB'*Aa - repmat( args.AP, [1, 6]);
+
+As = (Ab - Aa)./vecnorm(Ab - Aa); % As_i is the i'th vector of As
+
+l = vecnorm(Ab - Aa)';
+
+Bs = (Bb - Ba)./vecnorm(Bb - Ba);
+
+FRa = zeros(3,3,6);
+MRb = zeros(3,3,6);
+
+for i = 1:6
+ FRa(:,:,i) = [cross([0;1;0], As(:,i)) , cross(As(:,i), cross([0;1;0], As(:,i))) , As(:,i)];
+ FRa(:,:,i) = FRa(:,:,i)./vecnorm(FRa(:,:,i));
+
+ MRb(:,:,i) = [cross([0;1;0], Bs(:,i)) , cross(Bs(:,i), cross([0;1;0], Bs(:,i))) , Bs(:,i)];
+ MRb(:,:,i) = MRb(:,:,i)./vecnorm(MRb(:,:,i));
+end
+
+stewart.geometry.Aa = Aa;
+stewart.geometry.Ab = Ab;
+stewart.geometry.Ba = Ba;
+stewart.geometry.Bb = Bb;
+stewart.geometry.As = As;
+stewart.geometry.Bs = Bs;
+stewart.geometry.l = l;
+
+stewart.struts_F.l = l/2;
+stewart.struts_M.l = l/2;
+
+stewart.platform_F.FRa = FRa;
+stewart.platform_M.MRb = MRb;
diff --git a/matlab/src/describeStewartPlatform.m b/matlab/src/describeStewartPlatform.m
new file mode 100644
index 0000000..3be8da3
--- /dev/null
+++ b/matlab/src/describeStewartPlatform.m
@@ -0,0 +1,79 @@
+function [] = describeStewartPlatform(stewart)
+% describeStewartPlatform - Display some text describing the current defined Stewart Platform
+%
+% Syntax: [] = describeStewartPlatform(args)
+%
+% Inputs:
+% - stewart
+%
+% Outputs:
+
+arguments
+ stewart
+end
+
+fprintf('GEOMETRY:\n')
+fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)
+
+if stewart.platform_M.MO_B(3) > 0
+ fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n', 1e3*stewart.platform_M.MO_B(3))
+else
+ fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
+end
+
+fprintf('- The initial length of the struts are:\n')
+fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
+fprintf('\n')
+
+fprintf('ACTUATORS:\n')
+if stewart.actuators.type == 1
+ fprintf('- The actuators are classical.\n')
+ fprintf('- The Stiffness and Damping of each actuators is:\n')
+ fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.k, stewart.actuators.c)
+elseif stewart.actuators.type == 2
+ fprintf('- The actuators are mechanicaly amplified.\n')
+end
+fprintf('\n')
+
+fprintf('JOINTS:\n')
+
+switch stewart.joints_F.type
+ case 1
+ 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
+ case 1
+ 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')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)
+
+fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
+fprintf('\n')
+
+fprintf('KINEMATICS:\n')
+
+if isfield(stewart.kinematics, 'K')
+ fprintf('- The Stiffness matrix K is (in [N/m]):\n')
+ fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
+end
+
+if isfield(stewart.kinematics, 'C')
+ fprintf('- The Damping matrix C is (in [m/N]):\n')
+ fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
+end
diff --git a/matlab/src/displayArchitecture.m b/matlab/src/displayArchitecture.m
new file mode 100644
index 0000000..8b66821
--- /dev/null
+++ b/matlab/src/displayArchitecture.m
@@ -0,0 +1,252 @@
+function [] = displayArchitecture(stewart, args)
+% displayArchitecture - 3D plot of the Stewart platform architecture
+%
+% Syntax: [] = displayArchitecture(args)
+%
+% Inputs:
+% - stewart
+% - args - Structure with the following fields:
+% - AP [3x1] - The wanted position of {B} with respect to {A}
+% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+% - F_color [color] - Color used for the Fixed elements
+% - M_color [color] - Color used for the Mobile elements
+% - L_color [color] - Color used for the Legs elements
+% - frames [true/false] - Display the Frames
+% - legs [true/false] - Display the Legs
+% - joints [true/false] - Display the Joints
+% - labels [true/false] - Display the Labels
+% - platforms [true/false] - Display the Platforms
+% - views ['all', 'xy', 'yz', 'xz', 'default'] -
+%
+% Outputs:
+
+arguments
+ stewart
+ args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
+ args.ARB (3,3) double {mustBeNumeric} = eye(3)
+ args.F_color = [0 0.4470 0.7410]
+ args.M_color = [0.8500 0.3250 0.0980]
+ args.L_color = [0 0 0]
+ args.frames logical {mustBeNumericOrLogical} = true
+ args.legs logical {mustBeNumericOrLogical} = true
+ args.joints logical {mustBeNumericOrLogical} = true
+ args.labels logical {mustBeNumericOrLogical} = true
+ args.platforms logical {mustBeNumericOrLogical} = true
+ args.views char {mustBeMember(args.views,{'all', 'xy', 'xz', 'yz', 'default'})} = 'default'
+end
+
+assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A')
+FO_A = stewart.platform_F.FO_A;
+
+assert(isfield(stewart.platform_M, 'MO_B'), 'stewart.platform_M should have attribute MO_B')
+MO_B = stewart.platform_M.MO_B;
+
+assert(isfield(stewart.geometry, 'H'), 'stewart.geometry should have attribute H')
+H = stewart.geometry.H;
+
+assert(isfield(stewart.platform_F, 'Fa'), 'stewart.platform_F should have attribute Fa')
+Fa = stewart.platform_F.Fa;
+
+assert(isfield(stewart.platform_M, 'Mb'), 'stewart.platform_M should have attribute Mb')
+Mb = stewart.platform_M.Mb;
+
+% The reference frame of the 3d plot corresponds to the frame $\{F\}$.
+if ~strcmp(args.views, 'all')
+ figure;
+else
+ f = figure('visible', 'off');
+end
+
+hold on;
+
+% We first compute homogeneous matrices that will be useful to position elements on the figure where the reference frame is $\{F\}$.
+FTa = [eye(3), FO_A; ...
+ zeros(1,3), 1];
+ATb = [args.ARB, args.AP; ...
+ zeros(1,3), 1];
+BTm = [eye(3), -MO_B; ...
+ zeros(1,3), 1];
+
+FTm = FTa*ATb*BTm;
+
+% Let's define a parameter that define the length of the unit vectors used to display the frames.
+d_unit_vector = H/4;
+
+% Let's define a parameter used to position the labels with respect to the center of the element.
+d_label = H/20;
+% Let's first plot the frame $\{F\}$.
+Ff = [0, 0, 0];
+if args.frames
+ quiver3(Ff(1)*ones(1,3), Ff(2)*ones(1,3), Ff(3)*ones(1,3), ...
+ [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
+
+ if args.labels
+ text(Ff(1) + d_label, ...
+ Ff(2) + d_label, ...
+ Ff(3) + d_label, '$\{F\}$', 'Color', args.F_color);
+ end
+end
+
+% Now plot the frame $\{A\}$ fixed to the Base.
+if args.frames
+ quiver3(FO_A(1)*ones(1,3), FO_A(2)*ones(1,3), FO_A(3)*ones(1,3), ...
+ [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
+
+ if args.labels
+ text(FO_A(1) + d_label, ...
+ FO_A(2) + d_label, ...
+ FO_A(3) + d_label, '$\{A\}$', 'Color', args.F_color);
+ end
+end
+
+% Let's then plot the circle corresponding to the shape of the Fixed base.
+if args.platforms && stewart.platform_F.type == 1
+ theta = [0:0.1:2*pi+0.1]; % Angles [rad]
+ v = null([0; 0; 1]'); % Two vectors that are perpendicular to the circle normal
+ center = [0; 0; 0]; % Center of the circle
+ radius = stewart.platform_F.R; % Radius of the circle [m]
+
+ points = center*ones(1, length(theta)) + radius*(v(:,1)*cos(theta) + v(:,2)*sin(theta));
+
+ plot3(points(1,:), ...
+ points(2,:), ...
+ points(3,:), '-', 'Color', args.F_color);
+end
+
+% Let's now plot the position and labels of the Fixed Joints
+if args.joints
+ scatter3(Fa(1,:), ...
+ Fa(2,:), ...
+ Fa(3,:), 'MarkerEdgeColor', args.F_color);
+ if args.labels
+ for i = 1:size(Fa,2)
+ text(Fa(1,i) + d_label, ...
+ Fa(2,i), ...
+ Fa(3,i), sprintf('$a_{%i}$', i), 'Color', args.F_color);
+ end
+ end
+end
+
+% Plot the frame $\{M\}$.
+Fm = FTm*[0; 0; 0; 1]; % Get the position of frame {M} w.r.t. {F}
+
+if args.frames
+ FM_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors
+ quiver3(Fm(1)*ones(1,3), Fm(2)*ones(1,3), Fm(3)*ones(1,3), ...
+ FM_uv(1,1:3), FM_uv(2,1:3), FM_uv(3,1:3), '-', 'Color', args.M_color)
+
+ if args.labels
+ text(Fm(1) + d_label, ...
+ Fm(2) + d_label, ...
+ Fm(3) + d_label, '$\{M\}$', 'Color', args.M_color);
+ end
+end
+
+% Plot the frame $\{B\}$.
+FB = FO_A + args.AP;
+
+if args.frames
+ FB_uv = FTm*[d_unit_vector*eye(3); zeros(1,3)]; % Rotated Unit vectors
+ quiver3(FB(1)*ones(1,3), FB(2)*ones(1,3), FB(3)*ones(1,3), ...
+ FB_uv(1,1:3), FB_uv(2,1:3), FB_uv(3,1:3), '-', 'Color', args.M_color)
+
+ if args.labels
+ text(FB(1) - d_label, ...
+ FB(2) + d_label, ...
+ FB(3) + d_label, '$\{B\}$', 'Color', args.M_color);
+ end
+end
+
+% Let's then plot the circle corresponding to the shape of the Mobile platform.
+if args.platforms && stewart.platform_M.type == 1
+ theta = [0:0.1:2*pi+0.1]; % Angles [rad]
+ v = null((FTm(1:3,1:3)*[0;0;1])'); % Two vectors that are perpendicular to the circle normal
+ center = Fm(1:3); % Center of the circle
+ radius = stewart.platform_M.R; % Radius of the circle [m]
+
+ points = center*ones(1, length(theta)) + radius*(v(:,1)*cos(theta) + v(:,2)*sin(theta));
+
+ plot3(points(1,:), ...
+ points(2,:), ...
+ points(3,:), '-', 'Color', args.M_color);
+end
+
+% Plot the position and labels of the rotation joints fixed to the mobile platform.
+if args.joints
+ Fb = FTm*[Mb;ones(1,6)];
+
+ scatter3(Fb(1,:), ...
+ Fb(2,:), ...
+ Fb(3,:), 'MarkerEdgeColor', args.M_color);
+
+ if args.labels
+ for i = 1:size(Fb,2)
+ text(Fb(1,i) + d_label, ...
+ Fb(2,i), ...
+ Fb(3,i), sprintf('$b_{%i}$', i), 'Color', args.M_color);
+ end
+ end
+end
+
+% Plot the legs connecting the joints of the fixed base to the joints of the mobile platform.
+if args.legs
+ for i = 1:6
+ plot3([Fa(1,i), Fb(1,i)], ...
+ [Fa(2,i), Fb(2,i)], ...
+ [Fa(3,i), Fb(3,i)], '-', 'Color', args.L_color);
+
+ if args.labels
+ text((Fa(1,i)+Fb(1,i))/2 + d_label, ...
+ (Fa(2,i)+Fb(2,i))/2, ...
+ (Fa(3,i)+Fb(3,i))/2, sprintf('$%i$', i), 'Color', args.L_color);
+ end
+ end
+end
+
+switch args.views
+ case 'default'
+ view([1 -0.6 0.4]);
+ case 'xy'
+ view([0 0 1]);
+ case 'xz'
+ view([0 -1 0]);
+ case 'yz'
+ view([1 0 0]);
+end
+axis equal;
+axis off;
+
+if strcmp(args.views, 'all')
+ hAx = findobj('type', 'axes');
+
+ figure;
+ s1 = subplot(2,2,1);
+ copyobj(get(hAx(1), 'Children'), s1);
+ view([0 0 1]);
+ axis equal;
+ axis off;
+ title('Top')
+
+ s2 = subplot(2,2,2);
+ copyobj(get(hAx(1), 'Children'), s2);
+ view([1 -0.6 0.4]);
+ axis equal;
+ axis off;
+
+ s3 = subplot(2,2,3);
+ copyobj(get(hAx(1), 'Children'), s3);
+ view([1 0 0]);
+ axis equal;
+ axis off;
+ title('Front')
+
+ s4 = subplot(2,2,4);
+ copyobj(get(hAx(1), 'Children'), s4);
+ view([0 -1 0]);
+ axis equal;
+ axis off;
+ title('Side')
+
+ close(f);
+end
diff --git a/matlab/src/forwardKinematicsApprox.m b/matlab/src/forwardKinematicsApprox.m
new file mode 100644
index 0000000..a6f3c23
--- /dev/null
+++ b/matlab/src/forwardKinematicsApprox.m
@@ -0,0 +1,34 @@
+function [P, R] = forwardKinematicsApprox(stewart, args)
+% forwardKinematicsApprox - Computed the approximate pose of {B} with respect to {A} from the length of each strut and using
+% the Jacobian Matrix
+%
+% Syntax: [P, R] = forwardKinematicsApprox(stewart, args)
+%
+% Inputs:
+% - stewart - A structure with the following fields
+% - kinematics.J [6x6] - The Jacobian Matrix
+% - args - Can have the following fields:
+% - dL [6x1] - Displacement of each strut [m]
+%
+% Outputs:
+% - P [3x1] - The estimated position of {B} with respect to {A}
+% - R [3x3] - The estimated rotation matrix that gives the orientation of {B} with respect to {A}
+
+arguments
+ stewart
+ args.dL (6,1) double {mustBeNumeric} = zeros(6,1)
+end
+
+assert(isfield(stewart.kinematics, 'J'), 'stewart.kinematics should have attribute J')
+J = stewart.kinematics.J;
+
+X = J\args.dL;
+
+P = X(1:3);
+
+theta = norm(X(4:6));
+s = X(4:6)/theta;
+
+R = [s(1)^2*(1-cos(theta)) + cos(theta) , s(1)*s(2)*(1-cos(theta)) - s(3)*sin(theta), s(1)*s(3)*(1-cos(theta)) + s(2)*sin(theta);
+ s(2)*s(1)*(1-cos(theta)) + s(3)*sin(theta), s(2)^2*(1-cos(theta)) + cos(theta), s(2)*s(3)*(1-cos(theta)) - s(1)*sin(theta);
+ s(3)*s(1)*(1-cos(theta)) - s(2)*sin(theta), s(3)*s(2)*(1-cos(theta)) + s(1)*sin(theta), s(3)^2*(1-cos(theta)) + cos(theta)];
diff --git a/matlab/src/generateCubicConfiguration.m b/matlab/src/generateCubicConfiguration.m
new file mode 100644
index 0000000..d08b019
--- /dev/null
+++ b/matlab/src/generateCubicConfiguration.m
@@ -0,0 +1,57 @@
+function [stewart] = generateCubicConfiguration(stewart, args)
+% generateCubicConfiguration - Generate a Cubic Configuration
+%
+% Syntax: [stewart] = generateCubicConfiguration(stewart, args)
+%
+% Inputs:
+% - stewart - A structure with the following fields
+% - geometry.H [1x1] - Total height of the platform [m]
+% - args - Can have the following fields:
+% - Hc [1x1] - Height of the "useful" part of the cube [m]
+% - FOc [1x1] - Height of the center of the cube with respect to {F} [m]
+% - FHa [1x1] - Height of the plane joining the points ai with respect to the frame {F} [m]
+% - MHb [1x1] - Height of the plane joining the points bi with respect to the frame {M} [m]
+%
+% Outputs:
+
+% - stewart - updated Stewart structure with the added fields:
+% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
+% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
+
+arguments
+ stewart
+ args.Hc (1,1) double {mustBeNumeric, mustBePositive} = 60e-3
+ args.FOc (1,1) double {mustBeNumeric} = 50e-3
+ args.FHa (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
+ args.MHb (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
+end
+
+assert(isfield(stewart.geometry, 'H'), 'stewart.geometry should have attribute H')
+H = stewart.geometry.H;
+
+% We define the useful points of the cube with respect to the Cube's center.
+% ${}^{C}C$ are the 6 vertices of the cubes expressed in a frame {C} which is located at the center of the cube and aligned with {F} and {M}.
+
+sx = [ 2; -1; -1];
+sy = [ 0; 1; -1];
+sz = [ 1; 1; 1];
+
+R = [sx, sy, sz]./vecnorm([sx, sy, sz]);
+
+L = args.Hc*sqrt(3);
+
+Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*args.Hc];
+
+CCf = [Cc(:,1), Cc(:,3), Cc(:,3), Cc(:,5), Cc(:,5), Cc(:,1)]; % CCf(:,i) corresponds to the bottom cube's vertice corresponding to the i'th leg
+CCm = [Cc(:,2), Cc(:,2), Cc(:,4), Cc(:,4), Cc(:,6), Cc(:,6)]; % CCm(:,i) corresponds to the top cube's vertice corresponding to the i'th leg
+
+% We can compute the vector of each leg ${}^{C}\hat{\bm{s}}_{i}$ (unit vector from ${}^{C}C_{f}$ to ${}^{C}C_{m}$).
+
+CSi = (CCm - CCf)./vecnorm(CCm - CCf);
+
+% We now which to compute the position of the joints $a_{i}$ and $b_{i}$.
+Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
+Mb = CCf + [0; 0; args.FOc-H] + ((H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
+
+stewart.platform_F.Fa = Fa;
+stewart.platform_M.Mb = Mb;
diff --git a/matlab/src/generateGeneralConfiguration.m b/matlab/src/generateGeneralConfiguration.m
new file mode 100644
index 0000000..4cfcc24
--- /dev/null
+++ b/matlab/src/generateGeneralConfiguration.m
@@ -0,0 +1,39 @@
+function [stewart] = generateGeneralConfiguration(stewart, args)
+% generateGeneralConfiguration - Generate a Very General Configuration
+%
+% Syntax: [stewart] = generateGeneralConfiguration(stewart, args)
+%
+% Inputs:
+% - args - Can have the following fields:
+% - FH [1x1] - Height of the position of the fixed joints with respect to the frame {F} [m]
+% - FR [1x1] - Radius of the position of the fixed joints in the X-Y [m]
+% - FTh [6x1] - Angles of the fixed joints in the X-Y plane with respect to the X axis [rad]
+% - MH [1x1] - Height of the position of the mobile joints with respect to the frame {M} [m]
+% - FR [1x1] - Radius of the position of the mobile joints in the X-Y [m]
+% - MTh [6x1] - Angles of the mobile joints in the X-Y plane with respect to the X axis [rad]
+%
+% Outputs:
+% - stewart - updated Stewart structure with the added fields:
+% - platform_F.Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
+% - platform_M.Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
+
+arguments
+ stewart
+ args.FH (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
+ args.FR (1,1) double {mustBeNumeric, mustBePositive} = 115e-3;
+ args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180);
+ args.MH (1,1) double {mustBeNumeric, mustBeNonnegative} = 15e-3
+ args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3;
+ args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180);
+end
+
+Fa = zeros(3,6);
+Mb = zeros(3,6);
+
+for i = 1:6
+ Fa(:,i) = [args.FR*cos(args.FTh(i)); args.FR*sin(args.FTh(i)); args.FH];
+ Mb(:,i) = [args.MR*cos(args.MTh(i)); args.MR*sin(args.MTh(i)); -args.MH];
+end
+
+stewart.platform_F.Fa = Fa;
+stewart.platform_M.Mb = Mb;
diff --git a/matlab/src/initializeController.m b/matlab/src/initializeController.m
new file mode 100644
index 0000000..d0e0025
--- /dev/null
+++ b/matlab/src/initializeController.m
@@ -0,0 +1,17 @@
+function [controller] = initializeController(args)
+
+ arguments
+ args.type char {mustBeMember(args.type,{'open-loop', 'iff'})} = 'open-loop'
+ end
+
+ controller = struct();
+
+ switch args.type
+ case 'open-loop'
+ controller.type = 1;
+ controller.name = 'Open-Loop';
+ case 'iff'
+ controller.type = 2;
+ controller.name = 'Decentralized Integral Force Feedback';
+ end
+end
diff --git a/matlab/src/initializeCylindricalPlatforms.m b/matlab/src/initializeCylindricalPlatforms.m
new file mode 100644
index 0000000..0b86fc1
--- /dev/null
+++ b/matlab/src/initializeCylindricalPlatforms.m
@@ -0,0 +1,59 @@
+function [stewart] = initializeCylindricalPlatforms(stewart, args)
+% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
+%
+% Syntax: [stewart] = initializeCylindricalPlatforms(args)
+%
+% Inputs:
+% - args - Structure with the following fields:
+% - Fpm [1x1] - Fixed Platform Mass [kg]
+% - Fph [1x1] - Fixed Platform Height [m]
+% - Fpr [1x1] - Fixed Platform Radius [m]
+% - Mpm [1x1] - Mobile Platform Mass [kg]
+% - Mph [1x1] - Mobile Platform Height [m]
+% - Mpr [1x1] - Mobile Platform Radius [m]
+%
+% Outputs:
+% - stewart - updated Stewart structure with the added fields:
+% - platform_F [struct] - structure with the following fields:
+% - type = 1
+% - M [1x1] - Fixed Platform Mass [kg]
+% - I [3x3] - Fixed Platform Inertia matrix [kg*m^2]
+% - H [1x1] - Fixed Platform Height [m]
+% - R [1x1] - Fixed Platform Radius [m]
+% - platform_M [struct] - structure with the following fields:
+% - M [1x1] - Mobile Platform Mass [kg]
+% - I [3x3] - Mobile Platform Inertia matrix [kg*m^2]
+% - H [1x1] - Mobile Platform Height [m]
+% - R [1x1] - Mobile Platform Radius [m]
+
+arguments
+ stewart
+ args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
+ args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
+ args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
+ args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
+ args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
+ args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+end
+
+I_F = diag([1/12*args.Fpm * (3*args.Fpr^2 + args.Fph^2), ...
+ 1/12*args.Fpm * (3*args.Fpr^2 + args.Fph^2), ...
+ 1/2 *args.Fpm * args.Fpr^2]);
+
+I_M = diag([1/12*args.Mpm * (3*args.Mpr^2 + args.Mph^2), ...
+ 1/12*args.Mpm * (3*args.Mpr^2 + args.Mph^2), ...
+ 1/2 *args.Mpm * args.Mpr^2]);
+
+stewart.platform_F.type = 1;
+
+stewart.platform_F.I = I_F;
+stewart.platform_F.M = args.Fpm;
+stewart.platform_F.R = args.Fpr;
+stewart.platform_F.H = args.Fph;
+
+stewart.platform_M.type = 1;
+
+stewart.platform_M.I = I_M;
+stewart.platform_M.M = args.Mpm;
+stewart.platform_M.R = args.Mpr;
+stewart.platform_M.H = args.Mph;
diff --git a/matlab/src/initializeCylindricalStruts.m b/matlab/src/initializeCylindricalStruts.m
new file mode 100644
index 0000000..16d4fd2
--- /dev/null
+++ b/matlab/src/initializeCylindricalStruts.m
@@ -0,0 +1,50 @@
+function [stewart] = initializeCylindricalStruts(stewart, args)
+% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
+%
+% Syntax: [stewart] = initializeCylindricalStruts(args)
+%
+% Inputs:
+% - args - Structure with the following fields:
+% - Fsm [1x1] - Mass of the Fixed part of the struts [kg]
+% - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m]
+% - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m]
+% - Msm [1x1] - Mass of the Mobile part of the struts [kg]
+% - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m]
+% - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [m]
+%
+% Outputs:
+% - stewart - updated Stewart structure with the added fields:
+% - struts_F [struct] - structure with the following fields:
+% - M [6x1] - Mass of the Fixed part of the struts [kg]
+% - I [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2]
+% - H [6x1] - Height of cylinder for the Fixed part of the struts [m]
+% - R [6x1] - Radius of cylinder for the Fixed part of the struts [m]
+% - struts_M [struct] - structure with the following fields:
+% - M [6x1] - Mass of the Mobile part of the struts [kg]
+% - I [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2]
+% - H [6x1] - Height of cylinder for the Mobile part of the struts [m]
+% - R [6x1] - Radius of cylinder for the Mobile part of the struts [m]
+
+ arguments
+ stewart
+ args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
+ args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
+ args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
+ args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
+ args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
+ args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
+ end
+
+ stewart.struts_M.type = 1;
+
+ stewart.struts_M.M = args.Msm;
+ stewart.struts_M.R = args.Msr;
+ stewart.struts_M.H = args.Msh;
+
+ stewart.struts_F.type = 1;
+
+ stewart.struts_F.M = args.Fsm;
+ stewart.struts_F.R = args.Fsr;
+ stewart.struts_F.H = args.Fsh;
+
+end
diff --git a/matlab/src/initializeFramesPositions.m b/matlab/src/initializeFramesPositions.m
new file mode 100644
index 0000000..f68b97d
--- /dev/null
+++ b/matlab/src/initializeFramesPositions.m
@@ -0,0 +1,35 @@
+function [stewart] = initializeFramesPositions(stewart, args)
+% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}
+%
+% Syntax: [stewart] = initializeFramesPositions(stewart, args)
+%
+% Inputs:
+% - args - Can have the following fields:
+% - H [1x1] - Total Height of the Stewart Platform (height from {F} to {M}) [m]
+% - MO_B [1x1] - Height of the frame {B} with respect to {M} [m]
+%
+% Outputs:
+% - stewart - A structure with the following fields:
+% - geometry.H [1x1] - Total Height of the Stewart Platform [m]
+% - geometry.FO_M [3x1] - Position of {M} with respect to {F} [m]
+% - platform_M.MO_B [3x1] - Position of {B} with respect to {M} [m]
+% - platform_F.FO_A [3x1] - Position of {A} with respect to {F} [m]
+
+arguments
+ stewart
+ args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
+ args.MO_B (1,1) double {mustBeNumeric} = 50e-3
+end
+
+H = args.H; % Total Height of the Stewart Platform [m]
+
+FO_M = [0; 0; H]; % Position of {M} with respect to {F} [m]
+
+MO_B = [0; 0; args.MO_B]; % Position of {B} with respect to {M} [m]
+
+FO_A = MO_B + FO_M; % Position of {A} with respect to {F} [m]
+
+stewart.geometry.H = H;
+stewart.geometry.FO_M = FO_M;
+stewart.platform_M.MO_B = MO_B;
+stewart.platform_F.FO_A = FO_A;
diff --git a/matlab/src/initializeJointDynamics.m b/matlab/src/initializeJointDynamics.m
new file mode 100644
index 0000000..4c4d1b5
--- /dev/null
+++ b/matlab/src/initializeJointDynamics.m
@@ -0,0 +1,129 @@
+function [stewart] = initializeJointDynamics(stewart, args)
+% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
+%
+% Syntax: [stewart] = initializeJointDynamics(args)
+%
+% Inputs:
+% - args - Structure with the following fields:
+% - type_F - 'universal', 'spherical', 'universal_p', 'spherical_p'
+% - type_M - 'universal', 'spherical', 'universal_p', 'spherical_p'
+% - Kf_M [6x1] - Bending (Rx, Ry) Stiffness for each top joints [(N.m)/rad]
+% - Kt_M [6x1] - Torsion (Rz) Stiffness for each top joints [(N.m)/rad]
+% - Cf_M [6x1] - Bending (Rx, Ry) Damping of each top joint [(N.m)/(rad/s)]
+% - Ct_M [6x1] - Torsion (Rz) Damping of each top joint [(N.m)/(rad/s)]
+% - Kf_F [6x1] - Bending (Rx, Ry) Stiffness for each bottom joints [(N.m)/rad]
+% - Kt_F [6x1] - Torsion (Rz) Stiffness for each bottom joints [(N.m)/rad]
+% - Cf_F [6x1] - Bending (Rx, Ry) Damping of each bottom joint [(N.m)/(rad/s)]
+% - Cf_F [6x1] - Torsion (Rz) Damping of each bottom joint [(N.m)/(rad/s)]
+%
+% Outputs:
+% - stewart - updated Stewart structure with the added fields:
+% - stewart.joints_F and stewart.joints_M:
+% - type - 1 (universal), 2 (spherical), 3 (universal perfect), 4 (spherical perfect)
+% - Kx, Ky, Kz [6x1] - Translation (Tx, Ty, Tz) Stiffness [N/m]
+% - Kf [6x1] - Flexion (Rx, Ry) Stiffness [(N.m)/rad]
+% - Kt [6x1] - Torsion (Rz) Stiffness [(N.m)/rad]
+% - Cx, Cy, Cz [6x1] - Translation (Rx, Ry) Damping [N/(m/s)]
+% - Cf [6x1] - Flexion (Rx, Ry) Damping [(N.m)/(rad/s)]
+% - Cb [6x1] - Torsion (Rz) Damping [(N.m)/(rad/s)]
+
+ arguments
+ stewart
+ args.type_F char {mustBeMember(args.type_F,{'2dof', '3dof', '4dof', '6dof', 'flexible'})} = '2dof'
+ args.type_M char {mustBeMember(args.type_M,{'2dof', '3dof', '4dof', '6dof', 'flexible'})} = '3dof'
+ args.Kf_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Cf_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Kt_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Ct_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Kf_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Cf_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Kt_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Ct_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Ka_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Ca_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Kr_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Cr_F (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Ka_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Ca_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Kr_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.Cr_M (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.K_M double {mustBeNumeric} = zeros(6,6)
+ args.M_M double {mustBeNumeric} = zeros(6,6)
+ args.n_xyz_M double {mustBeNumeric} = zeros(2,3)
+ args.xi_M double {mustBeNumeric} = 0.1
+ args.step_file_M char {} = ''
+ args.K_F double {mustBeNumeric} = zeros(6,6)
+ args.M_F double {mustBeNumeric} = zeros(6,6)
+ args.n_xyz_F double {mustBeNumeric} = zeros(2,3)
+ args.xi_F double {mustBeNumeric} = 0.1
+ args.step_file_F char {} = ''
+ end
+
+ switch args.type_F
+ case '2dof'
+ stewart.joints_F.type = 1;
+ case '3dof'
+ stewart.joints_F.type = 2;
+ case '4dof'
+ stewart.joints_F.type = 3;
+ case '6dof'
+ stewart.joints_F.type = 4;
+ case 'flexible'
+ stewart.joints_F.type = 5;
+ otherwise
+ error("joints_F are not correctly defined")
+ end
+
+ switch args.type_M
+ case '2dof'
+ stewart.joints_M.type = 1;
+ case '3dof'
+ stewart.joints_M.type = 2;
+ case '4dof'
+ stewart.joints_M.type = 3;
+ case '6dof'
+ stewart.joints_M.type = 4;
+ case 'flexible'
+ stewart.joints_M.type = 5;
+ otherwise
+ error("joints_M are not correctly defined")
+ end
+
+ stewart.joints_M.Ka = args.Ka_M;
+ stewart.joints_M.Kr = args.Kr_M;
+
+ stewart.joints_F.Ka = args.Ka_F;
+ stewart.joints_F.Kr = args.Kr_F;
+
+ stewart.joints_M.Ca = args.Ca_M;
+ stewart.joints_M.Cr = args.Cr_M;
+
+ stewart.joints_F.Ca = args.Ca_F;
+ stewart.joints_F.Cr = args.Cr_F;
+
+ stewart.joints_M.Kf = args.Kf_M;
+ stewart.joints_M.Kt = args.Kt_M;
+
+ stewart.joints_F.Kf = args.Kf_F;
+ stewart.joints_F.Kt = args.Kt_F;
+
+ stewart.joints_M.Cf = args.Cf_M;
+ stewart.joints_M.Ct = args.Ct_M;
+
+ stewart.joints_F.Cf = args.Cf_F;
+ stewart.joints_F.Ct = args.Ct_F;
+
+ stewart.joints_F.M = args.M_F;
+ stewart.joints_F.K = args.K_F;
+ stewart.joints_F.n_xyz = args.n_xyz_F;
+ stewart.joints_F.xi = args.xi_F;
+ stewart.joints_F.xi = args.xi_F;
+ stewart.joints_F.step_file = args.step_file_F;
+
+ stewart.joints_M.M = args.M_M;
+ stewart.joints_M.K = args.K_M;
+ stewart.joints_M.n_xyz = args.n_xyz_M;
+ stewart.joints_M.xi = args.xi_M;
+ stewart.joints_M.step_file = args.step_file_M;
+
+end
diff --git a/matlab/src/initializeSample.m b/matlab/src/initializeSample.m
new file mode 100644
index 0000000..a0b3eaa
--- /dev/null
+++ b/matlab/src/initializeSample.m
@@ -0,0 +1,26 @@
+function [sample] = initializeSample(args)
+
+ arguments
+ args.type char {mustBeMember(args.type,{'none', 'cylindrical'})} = 'none'
+ args.H_offset (1,1) double {mustBeNumeric} = 0 % Vertical offset [m]
+ args.H (1,1) double {mustBeNumeric, mustBePositive} = 200e-3 % Height [m]
+ args.R (1,1) double {mustBeNumeric, mustBePositive} = 110e-3 % Radius [m]
+ args.m (1,1) double {mustBeNumeric, mustBePositive} = 1 % Mass [kg]
+ end
+
+ sample = struct();
+
+ switch args.type
+ case 'none'
+ sample.type = 0;
+ sample.m = 0;
+ case 'cylindrical'
+ sample.type = 1;
+
+ sample.H_offset = args.H_offset;
+
+ sample.H = args.H;
+ sample.R = args.R;
+ sample.m = args.m;
+ end
+end
diff --git a/matlab/src/initializeStewartPlatform.m b/matlab/src/initializeStewartPlatform.m
new file mode 100644
index 0000000..0545b4d
--- /dev/null
+++ b/matlab/src/initializeStewartPlatform.m
@@ -0,0 +1,31 @@
+function [stewart] = initializeStewartPlatform()
+% initializeStewartPlatform - Initialize the stewart structure
+%
+% Syntax: [stewart] = initializeStewartPlatform(args)
+%
+% Outputs:
+% - stewart - A structure with the following sub-structures:
+% - platform_F -
+% - platform_M -
+% - joints_F -
+% - joints_M -
+% - struts_F -
+% - struts_M -
+% - actuators -
+% - geometry -
+% - properties -
+
+stewart = struct();
+stewart.platform_F = struct();
+stewart.platform_M = struct();
+stewart.joints_F = struct();
+stewart.joints_M = struct();
+stewart.struts_F = struct();
+stewart.struts_M = struct();
+stewart.actuators = struct();
+stewart.sensors = struct();
+stewart.sensors.inertial = struct();
+stewart.sensors.force = struct();
+stewart.sensors.relative = struct();
+stewart.geometry = struct();
+stewart.kinematics = struct();
diff --git a/matlab/src/initializeStewartPose.m b/matlab/src/initializeStewartPose.m
new file mode 100644
index 0000000..325b501
--- /dev/null
+++ b/matlab/src/initializeStewartPose.m
@@ -0,0 +1,27 @@
+function [stewart] = initializeStewartPose(stewart, args)
+% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose
+% It uses the inverse kinematic
+%
+% Syntax: [stewart] = initializeStewartPose(stewart, args)
+%
+% Inputs:
+% - stewart - A structure with the following fields
+% - Aa [3x6] - The positions ai expressed in {A}
+% - Bb [3x6] - The positions bi expressed in {B}
+% - args - Can have the following fields:
+% - AP [3x1] - The wanted position of {B} with respect to {A}
+% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+%
+% Outputs:
+% - stewart - updated Stewart structure with the added fields:
+% - actuators.Leq [6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}
+
+arguments
+ stewart
+ args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
+ args.ARB (3,3) double {mustBeNumeric} = eye(3)
+end
+
+[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
+
+stewart.actuators.Leq = dLi;
diff --git a/matlab/src/initializeStrutDynamics.m b/matlab/src/initializeStrutDynamics.m
new file mode 100644
index 0000000..79c2898
--- /dev/null
+++ b/matlab/src/initializeStrutDynamics.m
@@ -0,0 +1,60 @@
+function [stewart] = initializeStrutDynamics(stewart, args)
+% initializeStrutDynamics - Add Stiffness and Damping properties of each strut
+%
+% Syntax: [stewart] = initializeStrutDynamics(args)
+%
+% Inputs:
+% - args - Structure with the following fields:
+% - K [6x1] - Stiffness of each strut [N/m]
+% - C [6x1] - Damping of each strut [N/(m/s)]
+%
+% Outputs:
+% - stewart - updated Stewart structure with the added fields:
+% - actuators.type = 1
+% - actuators.K [6x1] - Stiffness of each strut [N/m]
+% - actuators.C [6x1] - Damping of each strut [N/(m/s)]
+
+ arguments
+ stewart
+ args.type char {mustBeMember(args.type,{'1dof', '2dof', 'flexible'})} = '1dof'
+ args.k (1,1) double {mustBeNumeric, mustBeNonnegative} = 20e6
+ args.kp (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.ke (1,1) double {mustBeNumeric, mustBeNonnegative} = 5e6
+ args.ka (1,1) double {mustBeNumeric, mustBeNonnegative} = 60e6
+ args.c (1,1) double {mustBeNumeric, mustBeNonnegative} = 2e1
+ args.cp (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
+ args.ce (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e6
+ args.ca (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
+
+ args.F_gain (1,1) double {mustBeNumeric} = 1
+ args.me (1,1) double {mustBeNumeric} = 0.01
+ args.ma (1,1) double {mustBeNumeric} = 0.01
+ end
+
+ if strcmp(args.type, '1dof')
+ stewart.actuators.type = 1;
+ elseif strcmp(args.type, '2dof')
+ stewart.actuators.type = 2;
+ elseif strcmp(args.type, 'flexible')
+ stewart.actuators.type = 3;
+ end
+
+ stewart.actuators.k = args.k;
+ stewart.actuators.c = args.c;
+
+ % Parallel stiffness
+ stewart.actuators.kp = args.kp;
+ stewart.actuators.cp = args.cp;
+
+ stewart.actuators.ka = args.ka;
+ stewart.actuators.ca = args.ca;
+
+ stewart.actuators.ke = args.ke;
+ stewart.actuators.ce = args.ce;
+
+ stewart.actuators.F_gain = args.F_gain;
+
+ stewart.actuators.ma = args.ma;
+ stewart.actuators.me = args.me;
+
+end
diff --git a/matlab/src/inverseKinematics.m b/matlab/src/inverseKinematics.m
new file mode 100644
index 0000000..c1c0618
--- /dev/null
+++ b/matlab/src/inverseKinematics.m
@@ -0,0 +1,36 @@
+function [Li, dLi] = inverseKinematics(stewart, args)
+% inverseKinematics - Compute the needed length of each strut to have the wanted position and orientation of {B} with respect to {A}
+%
+% Syntax: [stewart] = inverseKinematics(stewart)
+%
+% Inputs:
+% - stewart - A structure with the following fields
+% - geometry.Aa [3x6] - The positions ai expressed in {A}
+% - geometry.Bb [3x6] - The positions bi expressed in {B}
+% - geometry.l [6x1] - Length of each strut
+% - args - Can have the following fields:
+% - AP [3x1] - The wanted position of {B} with respect to {A}
+% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+%
+% Outputs:
+% - Li [6x1] - The 6 needed length of the struts in [m] to have the wanted pose of {B} w.r.t. {A}
+% - dLi [6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}
+
+arguments
+ stewart
+ args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
+ args.ARB (3,3) double {mustBeNumeric} = eye(3)
+end
+
+assert(isfield(stewart.geometry, 'Aa'), 'stewart.geometry should have attribute Aa')
+Aa = stewart.geometry.Aa;
+
+assert(isfield(stewart.geometry, 'Bb'), 'stewart.geometry should have attribute Bb')
+Bb = stewart.geometry.Bb;
+
+assert(isfield(stewart.geometry, 'l'), 'stewart.geometry should have attribute l')
+l = stewart.geometry.l;
+
+Li = sqrt(args.AP'*args.AP + diag(Bb'*Bb) + diag(Aa'*Aa) - (2*args.AP'*Aa)' + (2*args.AP'*(args.ARB*Bb))' - diag(2*(args.ARB*Bb)'*Aa));
+
+dLi = Li-l;
diff --git a/matlab/src/plotCube.m b/matlab/src/plotCube.m
new file mode 100644
index 0000000..7367775
--- /dev/null
+++ b/matlab/src/plotCube.m
@@ -0,0 +1,58 @@
+function [] = plotCube(stewart, args)
+
+arguments
+ stewart
+ args.Hc (1,1) double {mustBeNumeric, mustBePositive} = 60e-3
+ args.FOc (1,1) double {mustBeNumeric} = 50e-3
+ args.color (4,1) double {mustBeNumeric} = [0,0,0,0.5]
+ args.linewidth (1,1) double {mustBeNumeric, mustBePositive} = 2.5
+ args.link_to_struts logical {mustBeNumericOrLogical} = false
+end
+
+sx = [ 2; -1; -1];
+sy = [ 0; 1; -1];
+sz = [ 1; 1; 1];
+
+R = [sx, sy, sz]./vecnorm([sx, sy, sz]);
+
+L = args.Hc*sqrt(3);
+
+p_xyz = R'*[[0;0;0],[L;0;0],[L;L;0],[0;L;0],[0;0;L],[L;0;L],[L;L;L],[0;L;L]] - [0;0;1.5*args.Hc];
+
+% Position center of the cube
+p_xyz = p_xyz + args.FOc*[0;0;1]*ones(1,8);
+
+edges_order = [1 2 3 4 1];
+plot3(p_xyz(1,edges_order), p_xyz(2,edges_order), p_xyz(3,edges_order), '-', 'color', args.color, 'linewidth', args.linewidth);
+edges_order = [5 6 7 8 5];
+plot3(p_xyz(1,edges_order), p_xyz(2,edges_order), p_xyz(3,edges_order), '-', 'color', args.color, 'linewidth', args.linewidth);
+edges_order = [1 5];
+plot3(p_xyz(1,edges_order), p_xyz(2,edges_order), p_xyz(3,edges_order), '-', 'color', args.color, 'linewidth', args.linewidth);
+edges_order = [2 6];
+plot3(p_xyz(1,edges_order), p_xyz(2,edges_order), p_xyz(3,edges_order), '-', 'color', args.color, 'linewidth', args.linewidth);
+edges_order = [3 7];
+plot3(p_xyz(1,edges_order), p_xyz(2,edges_order), p_xyz(3,edges_order), '-', 'color', args.color, 'linewidth', args.linewidth);
+edges_order = [4 8];
+plot3(p_xyz(1,edges_order), p_xyz(2,edges_order), p_xyz(3,edges_order), '-', 'color', args.color, 'linewidth', args.linewidth);
+
+if args.link_to_struts
+ Fb = stewart.platform_M.Mb + stewart.geometry.FO_M;
+ plot3([Fb(1,1), p_xyz(1,5)],...
+ [Fb(2,1), p_xyz(2,5)],...
+ [Fb(3,1), p_xyz(3,5)], '--', 'color', args.color, 'linewidth', args.linewidth);
+ plot3([Fb(1,2), p_xyz(1,2)],...
+ [Fb(2,2), p_xyz(2,2)],...
+ [Fb(3,2), p_xyz(3,2)], '--', 'color', args.color, 'linewidth', args.linewidth);
+ plot3([Fb(1,3), p_xyz(1,2)],...
+ [Fb(2,3), p_xyz(2,2)],...
+ [Fb(3,3), p_xyz(3,2)], '--', 'color', args.color, 'linewidth', args.linewidth);
+ plot3([Fb(1,4), p_xyz(1,4)],...
+ [Fb(2,4), p_xyz(2,4)],...
+ [Fb(3,4), p_xyz(3,4)], '--', 'color', args.color, 'linewidth', args.linewidth);
+ plot3([Fb(1,5), p_xyz(1,4)],...
+ [Fb(2,5), p_xyz(2,4)],...
+ [Fb(3,5), p_xyz(3,4)], '--', 'color', args.color, 'linewidth', args.linewidth);
+ plot3([Fb(1,6), p_xyz(1,5)],...
+ [Fb(2,6), p_xyz(2,5)],...
+ [Fb(3,6), p_xyz(3,5)], '--', 'color', args.color, 'linewidth', args.linewidth);
+end
diff --git a/matlab/src/plotCylindricalPayload.m b/matlab/src/plotCylindricalPayload.m
new file mode 100644
index 0000000..93cb975
--- /dev/null
+++ b/matlab/src/plotCylindricalPayload.m
@@ -0,0 +1,15 @@
+function [] = plotCylindricalPayload(stewart, args)
+
+arguments
+ stewart
+ args.H (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
+ args.R (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
+ args.H_offset (1,1) double {mustBeNumeric} = 0
+ args.color (3,1) double {mustBeNumeric} = [0.5,0.5,0.5]
+end
+
+[X,Y,Z] = cylinder(args.R);
+Z = args.H*Z + args.H_offset;
+surf(X, Y, Z, 'facecolor', args.color, 'edgecolor', 'none')
+fill3(X(1,:), Y(1,:), Z(1,:), 'k', 'facecolor', args.color)
+fill3(X(2,:), Y(2,:), Z(2,:), 'k', 'facecolor', args.color)
diff --git a/matlab/subsystems/metrology_6dof.slx b/matlab/subsystems/metrology_6dof.slx
new file mode 100644
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diff --git a/matlab/subsystems/nano_hexapod_fixed_base.slx b/matlab/subsystems/nano_hexapod_fixed_base.slx
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