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< h1 class = "title" > Kinematic Study of the Stewart Platform< / h1 >
< div id = "table-of-contents" >
< h2 > Table of Contents< / h2 >
< div id = "text-table-of-contents" >
< ul >
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< li > < a href = "#org4a99119" > 1. Needed Actuator Stroke< / a >
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< ul >
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< li > < a href = "#org119868f" > 1.1. Stewart architecture definition< / a > < / li >
< li > < a href = "#org8ece9f1" > 1.2. Wanted translations and rotations< / a > < / li >
< li > < a href = "#org8cd9dfc" > 1.3. Needed stroke for "pure" rotations or translations< / a > < / li >
< li > < a href = "#org9acbff2" > 1.4. Needed stroke for combined translations and rotations< / a > < / li >
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< / ul >
< / li >
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< li > < a href = "#org0aef174" > 2. Maximum Stroke< / a > < / li >
< li > < a href = "#orgff4f3e2" > 3. Functions< / a >
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< ul >
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< li > < a href = "#orgca8f528" > 3.1. getMaxPositions< / a > < / li >
< li > < a href = "#org0ac04ca" > 3.2. getMaxPureDisplacement< / a > < / li >
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< / ul >
< / li >
< / ul >
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< / div >
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< div id = "outline-container-org4a99119" class = "outline-2" >
< h2 id = "org4a99119" > < span class = "section-number-2" > 1< / span > Needed Actuator Stroke< / h2 >
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< div class = "outline-text-2" id = "text-1" >
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< p >
The goal is to determine the needed stroke of the actuators to obtain wanted translations and rotations.
< / p >
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< / div >
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< div id = "outline-container-org119868f" class = "outline-3" >
< h3 id = "org119868f" > < span class = "section-number-3" > 1.1< / span > Stewart architecture definition< / h3 >
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< div class = "outline-text-3" id = "text-1-1" >
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< p >
We use a cubic architecture.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > opts = struct< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'H_tot'< / span > , < span class = "org-highlight-numbers-number" > 90< / span > , < span class = "org-underline" > ...< / span > < span class = "org-comment" > % Total height of the Hexapod [mm]< / span >
< span class = "org-string" > 'L'< / span > , < span class = "org-highlight-numbers-number" > 200< / span > < span class = "org-type" > /< / span > sqrt< span class = "org-rainbow-delimiters-depth-2" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > , < span class = "org-underline" > ...< / span > < span class = "org-comment" > % Size of the Cube [mm]< / span >
< span class = "org-string" > 'H'< / span > , < span class = "org-highlight-numbers-number" > 60< / span > , < span class = "org-underline" > ...< / span > < span class = "org-comment" > % Height between base joints and platform joints [mm]< / span >
< span class = "org-string" > 'H0'< / span > , < span class = "org-highlight-numbers-number" > 200< / span > < span class = "org-type" > /< / span > < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 60< / span > < span class = "org-type" > /< / span > < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-underline" > ...< / span > < span class = "org-comment" > % Height between the corner of the cube and the plane containing the base joints [mm]< / span >
< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
stewart = initializeCubicConfiguration< span class = "org-rainbow-delimiters-depth-1" > (< / span > opts< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
opts = struct< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'Jd_pos'< / span > , < span class = "org-rainbow-delimiters-depth-2" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 100< / span > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > , < span class = "org-underline" > ...< / span > < span class = "org-comment" > % Position of the Jacobian for displacement estimation from the top of the mobile platform [mm]< / span >
< span class = "org-string" > 'Jf_pos'< / span > , < span class = "org-rainbow-delimiters-depth-2" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 50< / span > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > < span class = "org-underline" > ...< / span > < span class = "org-comment" > % Position of the Jacobian for force location from the top of the mobile platform [mm]< / span >
< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
stewart = computeGeometricalProperties< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart, opts< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
opts = struct< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-underline" > ...< / span >
< span class = "org-string" > 'stroke'< / span > , < span class = "org-highlight-numbers-number" > 50e< / span > < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 6< / span > < span class = "org-underline" > ...< / span > < span class = "org-comment" > % Maximum stroke of each actuator [m]< / span >
< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
stewart = initializeMechanicalElements< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart, opts< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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save< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-string" > './mat/stewart.mat', 'stewart'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
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< / div >
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< div id = "outline-container-org8ece9f1" class = "outline-3" >
< h3 id = "org8ece9f1" > < span class = "section-number-3" > 1.2< / span > Wanted translations and rotations< / h3 >
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< div class = "outline-text-3" id = "text-1-2" >
< p >
We define wanted translations and rotations
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > Tx_max = < span class = "org-highlight-numbers-number" > 15e< / span > < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 6< / span > ; < span class = "org-comment" > % Translation [m]< / span >
Ty_max = < span class = "org-highlight-numbers-number" > 15e< / span > < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 6< / span > ; < span class = "org-comment" > % Translation [m]< / span >
Tz_max = < span class = "org-highlight-numbers-number" > 15e< / span > < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 6< / span > ; < span class = "org-comment" > % Translation [m]< / span >
Rx_max = < span class = "org-highlight-numbers-number" > 30e< / span > < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 6< / span > ; < span class = "org-comment" > % Rotation [rad]< / span >
Ry_max = < span class = "org-highlight-numbers-number" > 30e< / span > < span class = "org-type" > -< / span > < span class = "org-highlight-numbers-number" > 6< / span > ; < span class = "org-comment" > % Rotation [rad]< / span >
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-org8cd9dfc" class = "outline-3" >
< h3 id = "org8cd9dfc" > < span class = "section-number-3" > 1.3< / span > Needed stroke for "pure" rotations or translations< / h3 >
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< div class = "outline-text-3" id = "text-1-3" >
< p >
First, we estimate the needed actuator stroke for "pure" rotations and translation.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > LTx = stewart.Jd< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-1" > [< / span > Tx_max < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > ';
LTy = stewart.Jd< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > Ty_max < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > ';
LTz = stewart.Jd< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > Tz_max < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > ';
LRx = stewart.Jd< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > Rx_max < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > ';
LRy = stewart.Jd< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > Ry_max < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > ';
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< / pre >
< / div >
< pre class = "example" >
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From -1.2e-05[m] to 1.1e-05[m]: Total stroke = 22.9[um]
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< / pre >
< / div >
< / div >
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< div id = "outline-container-org9acbff2" class = "outline-3" >
< h3 id = "org9acbff2" > < span class = "section-number-3" > 1.4< / span > Needed stroke for combined translations and rotations< / h3 >
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< div class = "outline-text-3" id = "text-1-4" >
< p >
Now, we combine translations and rotations, and we try to find the worst case (that we suppose to happen at the border).
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > Lmax = < span class = "org-highlight-numbers-number" > 0< / span > ;
Lmin = < span class = "org-highlight-numbers-number" > 0< / span > ;
pos = < span class = "org-rainbow-delimiters-depth-1" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > ;
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > Tx< / span > = < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-constant" > -Tx_max< / span > ,Tx_max< span class = "org-rainbow-delimiters-depth-1" > ]< / span >
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > Ty< / span > = < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-constant" > -Ty_max< / span > ,Ty_max< span class = "org-rainbow-delimiters-depth-1" > ]< / span >
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > Tz< / span > = < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-constant" > -Tz_max< / span > ,Tz_max< span class = "org-rainbow-delimiters-depth-1" > ]< / span >
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > Rx< / span > = < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-constant" > -Rx_max< / span > ,Rx_max< span class = "org-rainbow-delimiters-depth-1" > ]< / span >
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > Ry< / span > = < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-constant" > -Ry_max< / span > ,Ry_max< span class = "org-rainbow-delimiters-depth-1" > ]< / span >
lmax = max< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart.Jd< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > Tx Ty Tz Rx Ry < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > '< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
lmin = min< span class = "org-rainbow-delimiters-depth-1" > (< / span > stewart.Jd< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-2" > [< / span > Tx Ty Tz Rx Ry < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-2" > ]< / span > '< span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-keyword" > if< / span > lmax < span class = "org-type" > > < / span > Lmax
Lmax = lmax;
pos = < span class = "org-rainbow-delimiters-depth-1" > [< / span > Tx Ty Tz Rx Ry< span class = "org-rainbow-delimiters-depth-1" > ]< / span > ;
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > if< / span > lmin < span class = "org-type" > < < / span > Lmin
Lmin = lmin;
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
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< / pre >
< / div >
< p >
We obtain a needed stroke shown below (almost two times the needed stroke for "pure" rotations and translations).
< / p >
< pre class = "example" >
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From -3.1e-05[m] to 3.1e-05[m]: Total stroke = 61.5[um]
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-org0aef174" class = "outline-2" >
< h2 id = "org0aef174" > < span class = "section-number-2" > 2< / span > Maximum Stroke< / h2 >
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< div class = "outline-text-2" id = "text-2" >
< p >
From a specified actuator stroke, we try to estimate the available maneuverability of the Stewart platform.
< / p >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > X, Y, Z< span class = "org-rainbow-delimiters-depth-1" > ]< / span > = getMaxPositions< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > stewart< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< / pre >
< / div >
< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-type" > figure< / span > ;
plot3< span class = "org-rainbow-delimiters-depth-1" > (< / span > X, Y, Z, < span class = "org-string" > 'k-'< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-orgff4f3e2" class = "outline-2" >
< h2 id = "orgff4f3e2" > < span class = "section-number-2" > 3< / span > Functions< / h2 >
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< div class = "outline-text-2" id = "text-3" >
< / div >
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< div id = "outline-container-orgca8f528" class = "outline-3" >
< h3 id = "orgca8f528" > < span class = "section-number-3" > 3.1< / span > getMaxPositions< / h3 >
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< div class = "outline-text-3" id = "text-3-1" >
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< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-keyword" > function< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-variable-name" > X, Y, Z< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > < / span > = < span class = "org-function-name" > getMaxPositions< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > stewart< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
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Leg = stewart.Leg;
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J = stewart.Jd;
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theta = linspace< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 0< / span > , < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-type" > *< / span > < span class = "org-constant" > pi< / span > , < span class = "org-highlight-numbers-number" > 100< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
phi = linspace< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-type" > -< / span > < span class = "org-constant" > pi< / span > < span class = "org-type" > /< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-constant" > pi< / span > < span class = "org-type" > /< / span > < span class = "org-highlight-numbers-number" > 2< / span > , < span class = "org-highlight-numbers-number" > 100< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
dmax = zeros< span class = "org-rainbow-delimiters-depth-1" > (< / span > length< span class = "org-rainbow-delimiters-depth-2" > (< / span > theta< span class = "org-rainbow-delimiters-depth-2" > )< / span > , length< span class = "org-rainbow-delimiters-depth-2" > (< / span > phi< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
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< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > i< / span > = < span class = "org-constant" > < span class = "org-highlight-numbers-number" > 1< / span > < / span > < span class = "org-constant" > :length< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-constant" > theta< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span >
< span class = "org-keyword" > for< / span > < span class = "org-variable-name" > j< / span > = < span class = "org-constant" > < span class = "org-highlight-numbers-number" > 1< / span > < / span > < span class = "org-constant" > :length< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < / span > < span class = "org-constant" > phi< / span > < span class = "org-constant" > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < / span >
L = J< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-1" > [< / span > cos< span class = "org-rainbow-delimiters-depth-2" > (< / span > phi< span class = "org-rainbow-delimiters-depth-3" > (< / span > < span class = "org-constant" > j< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-type" > *< / span > cos< span class = "org-rainbow-delimiters-depth-2" > (< / span > theta< span class = "org-rainbow-delimiters-depth-3" > (< / span > < span class = "org-constant" > i< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > cos< span class = "org-rainbow-delimiters-depth-2" > (< / span > phi< span class = "org-rainbow-delimiters-depth-3" > (< / span > < span class = "org-constant" > j< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-type" > *< / span > sin< span class = "org-rainbow-delimiters-depth-2" > (< / span > theta< span class = "org-rainbow-delimiters-depth-3" > (< / span > < span class = "org-constant" > i< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > sin< span class = "org-rainbow-delimiters-depth-2" > (< / span > phi< span class = "org-rainbow-delimiters-depth-3" > (< / span > < span class = "org-constant" > j< / span > < span class = "org-rainbow-delimiters-depth-3" > )< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > ';
dmax< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-constant" > i< / span > , < span class = "org-constant" > j< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = Leg.stroke< span class = "org-type" > /< / span > max< span class = "org-rainbow-delimiters-depth-1" > (< / span > abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > L< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-keyword" > end< / span >
< span class = "org-keyword" > end< / span >
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X = dmax< span class = "org-type" > .*< / span > cos< span class = "org-rainbow-delimiters-depth-1" > (< / span > repmat< span class = "org-rainbow-delimiters-depth-2" > (< / span > phi,length< span class = "org-rainbow-delimiters-depth-3" > (< / span > theta< span class = "org-rainbow-delimiters-depth-3" > )< / span > ,< span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < span class = "org-type" > .*< / span > cos< span class = "org-rainbow-delimiters-depth-1" > (< / span > repmat< span class = "org-rainbow-delimiters-depth-2" > (< / span > theta,length< span class = "org-rainbow-delimiters-depth-3" > (< / span > phi< span class = "org-rainbow-delimiters-depth-3" > )< / span > ,< span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ';
Y = dmax< span class = "org-type" > .*< / span > cos< span class = "org-rainbow-delimiters-depth-1" > (< / span > repmat< span class = "org-rainbow-delimiters-depth-2" > (< / span > phi,length< span class = "org-rainbow-delimiters-depth-3" > (< / span > theta< span class = "org-rainbow-delimiters-depth-3" > )< / span > ,< span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > < span class = "org-type" > .*< / span > sin< span class = "org-rainbow-delimiters-depth-1" > (< / span > repmat< span class = "org-rainbow-delimiters-depth-2" > (< / span > theta,length< span class = "org-rainbow-delimiters-depth-3" > (< / span > phi< span class = "org-rainbow-delimiters-depth-3" > )< / span > ,< span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ';
Z = dmax< span class = "org-type" > .*< / span > sin< span class = "org-rainbow-delimiters-depth-1" > (< / span > repmat< span class = "org-rainbow-delimiters-depth-2" > (< / span > phi,length< span class = "org-rainbow-delimiters-depth-3" > (< / span > theta< span class = "org-rainbow-delimiters-depth-3" > )< / span > ,< span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-keyword" > end< / span >
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< / pre >
< / div >
< / div >
< / div >
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< div id = "outline-container-org0ac04ca" class = "outline-3" >
< h3 id = "org0ac04ca" > < span class = "section-number-3" > 3.2< / span > getMaxPureDisplacement< / h3 >
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< div class = "outline-text-3" id = "text-3-2" >
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< div class = "org-src-container" >
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< pre class = "src src-matlab" > < span class = "org-keyword" > function< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > [< / span > < / span > < span class = "org-variable-name" > max_disp< / span > < span class = "org-variable-name" > < span class = "org-rainbow-delimiters-depth-1" > ]< / span > < / span > = < span class = "org-function-name" > getMaxPureDisplacement< / span > < span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-variable-name" > Leg< / span > , < span class = "org-variable-name" > J< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span >
max_disp = zeros< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > , < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
max_disp< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = Leg.stroke< span class = "org-type" > /< / span > max< span class = "org-rainbow-delimiters-depth-1" > (< / span > abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > J< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-3" > [< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-3" > ]< / span > '< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
max_disp< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 2< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = Leg.stroke< span class = "org-type" > /< / span > max< span class = "org-rainbow-delimiters-depth-1" > (< / span > abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > J< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-3" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-3" > ]< / span > '< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
max_disp< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 3< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = Leg.stroke< span class = "org-type" > /< / span > max< span class = "org-rainbow-delimiters-depth-1" > (< / span > abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > J< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-3" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-3" > ]< / span > '< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
max_disp< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 4< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = Leg.stroke< span class = "org-type" > /< / span > max< span class = "org-rainbow-delimiters-depth-1" > (< / span > abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > J< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-3" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< /span> < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-3" > ]< / span > '< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
max_disp< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 5< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = Leg.stroke< span class = "org-type" > /< / span > max< span class = "org-rainbow-delimiters-depth-1" > (< / span > abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > J< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-3" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-rainbow-delimiters-depth-3" > ]< / span > '< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
max_disp< span class = "org-rainbow-delimiters-depth-1" > (< / span > < span class = "org-highlight-numbers-number" > 6< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > = Leg.stroke< span class = "org-type" > /< / span > max< span class = "org-rainbow-delimiters-depth-1" > (< / span > abs< span class = "org-rainbow-delimiters-depth-2" > (< / span > J< span class = "org-type" > *< / span > < span class = "org-rainbow-delimiters-depth-3" > [< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 0< / span > < span class = "org-highlight-numbers-number" > 1< / span > < span class = "org-rainbow-delimiters-depth-3" > ]< / span > '< span class = "org-rainbow-delimiters-depth-2" > )< / span > < span class = "org-rainbow-delimiters-depth-1" > )< / span > ;
< span class = "org-keyword" > end< / span >
2019-03-22 12:03:59 +01:00
< / pre >
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< / div >
< / div >
< div id = "postamble" class = "status" >
< p class = "author" > Author: Thomas Dehaeze< / p >
2019-08-26 11:58:44 +02:00
< p class = "date" > Created: 2019-08-26 lun. 11:55< / p >
2019-03-22 12:03:59 +01:00
< p class = "validation" > < a href = "http://validator.w3.org/check?uri=referer" > Validate< / a > < / p >
< / div >
< / body >
< / html >
