50 lines
1.6 KiB
Org Mode
50 lines
1.6 KiB
Org Mode
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#+TITLE: Kinematic Study of the Stewart Platform
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* Functions
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :exports code
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:HEADER-ARGS:matlab+: :comments no
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:HEADER-ARGS:matlab+: :mkdir yes
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:HEADER-ARGS:matlab+: :eval no
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:END:
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** getMaxPositions
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle src/getMaxPositions.m
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:END:
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#+begin_src matlab
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function [X, Y, Z] = getMaxPositions(stewart)
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Leg = stewart.Leg;
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J = stewart.J;
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theta = linspace(0, 2*pi, 100);
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phi = linspace(-pi/2 , pi/2, 100);
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dmax = zeros(length(theta), length(phi));
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for i = 1:length(theta)
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for j = 1:length(phi)
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L = J*[cos(phi(j))*cos(theta(i)) cos(phi(j))*sin(theta(i)) sin(phi(j)) 0 0 0]';
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dmax(i, j) = Leg.stroke/max(abs(L));
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end
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end
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X = dmax.*cos(repmat(phi,length(theta),1)).*cos(repmat(theta,length(phi),1))';
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Y = dmax.*cos(repmat(phi,length(theta),1)).*sin(repmat(theta,length(phi),1))';
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Z = dmax.*sin(repmat(phi,length(theta),1));
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end
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#+end_src
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** getMaxPureDisplacement
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle src/getMaxPureDisplacement.m
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:END:
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#+begin_src matlab
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function [max_disp] = getMaxPureDisplacement(Leg, J)
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max_disp = zeros(6, 1);
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max_disp(1) = Leg.stroke/max(abs(J*[1 0 0 0 0 0]'));
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max_disp(2) = Leg.stroke/max(abs(J*[0 1 0 0 0 0]'));
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max_disp(3) = Leg.stroke/max(abs(J*[0 0 1 0 0 0]'));
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max_disp(4) = Leg.stroke/max(abs(J*[0 0 0 1 0 0]'));
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max_disp(5) = Leg.stroke/max(abs(J*[0 0 0 0 1 0]'));
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max_disp(6) = Leg.stroke/max(abs(J*[0 0 0 0 0 1]'));
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end
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#+end_src
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