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2021-01-08 15:54:58 +01:00
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2020-09-07 23:00:14 +02:00
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<title>Stewart Platform - NASS</title>
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2021-01-08 15:34:53 +01:00
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2020-09-07 23:00:14 +02:00
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<a accesskey="h" href="./index.html"> UP </a>
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<a accesskey="H" href="./index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Stewart Platform - NASS</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#org07676ec">1. NASS</a>
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<ul>
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<li><a href="#org0167386">1.1. Identification of the Dynamics</a></li>
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</ul>
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</li>
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<div id="outline-container-org07676ec" class="outline-2">
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<h2 id="org07676ec"><span class="section-number-2">1</span> NASS</h2>
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<div class="outline-text-2" id="text-1">
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<div id="outline-container-org0167386" class="outline-3">
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<h3 id="org0167386"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
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<div class="outline-text-3" id="text-1-1">
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<div class="org-src-container">
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<pre class="src src-matlab">apa = load(<span class="org-string">'./mat/APA300ML.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
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flex_joint = load(<span class="org-string">'./mat/flexor_ID16.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 175e<span class="org-type">-</span>3);
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stewart = generateGeneralConfiguration(stewart, <span class="org-string">'FH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'MH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'FR'</span>, 228e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'MR'</span>, 220e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'FTh'</span>, [<span class="org-type">-</span>9, 9, 120<span class="org-type">-</span>9, 120<span class="org-type">+</span>9, 240<span class="org-type">-</span>9, 240<span class="org-type">+</span>9]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180), <span class="org-string">'MTh'</span>, [<span class="org-type">-</span>60<span class="org-type">+</span>15, 60<span class="org-type">-</span>15, 60<span class="org-type">+</span>15, 180<span class="org-type">-</span>15, 180<span class="org-type">+</span>15, <span class="org-type">-</span>60<span class="org-type">-</span>15]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180));
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stewart = computeJointsPose(stewart);
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stewart = initializeFlexibleStrutDynamics(stewart, <span class="org-string">'H'</span>, 0.03, <span class="org-string">'K'</span>, apa.K, <span class="org-string">'M'</span>, apa.M, <span class="org-string">'n_xyz'</span>, apa.n_xyz, <span class="org-string">'xi'</span>, 0.1, <span class="org-string">'step_file'</span>, <span class="org-string">'mat/APA300ML.STEP'</span>);
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stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_F'</span>, flex_joint.K, <span class="org-string">'M_F'</span>, flex_joint.M, <span class="org-string">'n_xyz_F'</span>, flex_joint.n_xyz, <span class="org-string">'xi_F'</span>, 0.1, <span class="org-string">'step_file_F'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_M'</span>, flex_joint.K, <span class="org-string">'M_M'</span>, flex_joint.M, <span class="org-string">'n_xyz_M'</span>, flex_joint.n_xyz, <span class="org-string">'xi_M'</span>, 0.1, <span class="org-string">'step_file_M'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>);
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stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'</span>, 150e<span class="org-type">-</span>3, <span class="org-string">'Mpr'</span>, 125e<span class="org-type">-</span>3);
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stewart = initializeCylindricalStruts(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'none'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'none'</span>);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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stewart = initializeInertialSensor(stewart);
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
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payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'m'</span>, 50);
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controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">disturbances = initializeDisturbances();
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references = initializeReferences(stewart);
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</pre>
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</div>
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</div>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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2021-01-08 15:54:58 +01:00
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<p class="date">Created: 2021-01-08 ven. 15:53</p>
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2020-09-07 23:00:14 +02:00
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