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< body >
< div id = "content" >
< 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 = "#org2e1bd58" > 1. Needed Actuator Stroke< / a >
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< ul >
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< li > < a href = "#org16d1370" > 1.1. Stewart architecture definition< / a > < / li >
< li > < a href = "#orgaf07b82" > 1.2. Wanted translations and rotations< / a > < / li >
< li > < a href = "#org920b62b" > 1.3. Needed stroke for "pure" rotations or translations< / a > < / li >
< li > < a href = "#org27bf97e" > 1.4. Needed stroke for combined translations and rotations< / a > < / li >
< / ul >
< / li >
< li > < a href = "#orgaebf111" > 2. Maximum Stroke< / a > < / li >
< li > < a href = "#orgfb8a1e7" > 3. Functions< / a >
< ul >
< li > < a href = "#org465746a" > 3.1. getMaxPositions< / a > < / li >
< li > < a href = "#org527f7ca" > 3.2. getMaxPureDisplacement< / a > < / li >
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< / ul >
< / li >
< / ul >
< / div >
< / div >
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< div id = "outline-container-org2e1bd58" class = "outline-2" >
< h2 id = "org2e1bd58" > < 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-org16d1370" class = "outline-3" >
< h3 id = "org16d1370" > < 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" >
< pre class = "src src-matlab" > opts = struct< span style = "color: #DCDCCC;" > (< / span > < span style = "text-decoration: underline;" > ...< / span >
< span style = "color: #CC9393;" > 'H_tot'< / span > , < span style = "color: #BFEBBF;" > 90< / span > , < span style = "text-decoration: underline;" > ...< / span > < span style = "color: #7F9F7F;" > % Total height of the Hexapod [mm]< / span >
< span style = "color: #CC9393;" > 'L'< / span > , < span style = "color: #BFEBBF;" > 180< / span > < span style = "color: #7CB8BB;" > /< / span > sqrt< span style = "color: #BFEBBF;" > (< / span > < span style = "color: #BFEBBF;" > 3< / span > < span style = "color: #BFEBBF;" > )< / span > , < span style = "text-decoration: underline;" > ...< / span > < span style = "color: #7F9F7F;" > % Size of the Cube [mm]< / span >
< span style = "color: #CC9393;" > 'H'< / span > , < span style = "color: #BFEBBF;" > 60< / span > , < span style = "text-decoration: underline;" > ...< / span > < span style = "color: #7F9F7F;" > % Height between base joints and platform joints [mm]< / span >
< span style = "color: #CC9393;" > 'H0'< / span > , < span style = "color: #BFEBBF;" > 180< / span > < span style = "color: #7CB8BB;" > /< / span > < span style = "color: #BFEBBF;" > 2< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 60< / span > < span style = "color: #7CB8BB;" > /< / span > < span style = "color: #BFEBBF;" > 2< / span > < span style = "text-decoration: underline;" > ...< / span > < span style = "color: #7F9F7F;" > % Height between the corner of the cube and the plane containing the base joints [mm]< / span >
< span style = "color: #DCDCCC;" > )< / span > ;
stewart = initializeCubicConfiguration< span style = "color: #DCDCCC;" > (< / span > opts< span style = "color: #DCDCCC;" > )< / span > ;
opts = struct< span style = "color: #DCDCCC;" > (< / span > < span style = "text-decoration: underline;" > ...< / span >
< span style = "color: #CC9393;" > 'Jd_pos'< / span > , < span style = "color: #BFEBBF;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 100< / span > < span style = "color: #BFEBBF;" > ]< / span > , < span style = "text-decoration: underline;" > ...< / span > < span style = "color: #7F9F7F;" > % Position of the Jacobian for displacement estimation from the top of the mobile platform [mm]< / span >
< span style = "color: #CC9393;" > 'Jf_pos'< / span > , < span style = "color: #BFEBBF;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 50< / span > < span style = "color: #BFEBBF;" > ]< / span > < span style = "text-decoration: underline;" > ...< / span > < span style = "color: #7F9F7F;" > % Position of the Jacobian for force location from the top of the mobile platform [mm]< / span >
< span style = "color: #DCDCCC;" > )< / span > ;
stewart = computeGeometricalProperties< span style = "color: #DCDCCC;" > (< / span > stewart, opts< span style = "color: #DCDCCC;" > )< / span > ;
opts = struct< span style = "color: #DCDCCC;" > (< / span > < span style = "text-decoration: underline;" > ...< / span >
< span style = "color: #CC9393;" > 'stroke'< / span > , < span style = "color: #BFEBBF;" > 50e< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 6< / span > < span style = "text-decoration: underline;" > ...< / span > < span style = "color: #7F9F7F;" > % Maximum stroke of each actuator [m]< / span >
< span style = "color: #DCDCCC;" > )< / span > ;
stewart = initializeMechanicalElements< span style = "color: #DCDCCC;" > (< / span > stewart, opts< span style = "color: #DCDCCC;" > )< / span > ;
save< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #CC9393;" > './mat/stewart.mat', 'stewart'< / span > < span style = "color: #DCDCCC;" > )< / span > ;
< / pre >
< / div >
< / div >
< / div >
< div id = "outline-container-orgaf07b82" class = "outline-3" >
< h3 id = "orgaf07b82" > < span class = "section-number-3" > 1.2< / span > Wanted translations and rotations< / h3 >
< div class = "outline-text-3" id = "text-1-2" >
< p >
We define wanted translations and rotations
< / p >
< div class = "org-src-container" >
< pre class = "src src-matlab" > Tx_max = < span style = "color: #BFEBBF;" > 15e< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 6< / span > ; < span style = "color: #7F9F7F;" > % Translation [m]< / span >
Ty_max = < span style = "color: #BFEBBF;" > 15e< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 6< / span > ; < span style = "color: #7F9F7F;" > % Translation [m]< / span >
Tz_max = < span style = "color: #BFEBBF;" > 15e< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 6< / span > ; < span style = "color: #7F9F7F;" > % Translation [m]< / span >
Rx_max = < span style = "color: #BFEBBF;" > 30e< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 6< / span > ; < span style = "color: #7F9F7F;" > % Rotation [rad]< / span >
Ry_max = < span style = "color: #BFEBBF;" > 30e< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > 6< / span > ; < span style = "color: #7F9F7F;" > % Rotation [rad]< / span >
< / pre >
< / div >
< / div >
< / div >
< div id = "outline-container-org920b62b" class = "outline-3" >
< h3 id = "org920b62b" > < span class = "section-number-3" > 1.3< / span > Needed stroke for "pure" rotations or translations< / h3 >
< 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" >
< pre class = "src src-matlab" > LTx = stewart.Jd< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #DCDCCC;" > [< / span > Tx_max < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #DCDCCC;" > ]< / span > ';
LTy = stewart.Jd< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > Ty_max < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #DCDCCC;" > ]< / span > ';
LTz = stewart.Jd< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > Tz_max < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #DCDCCC;" > ]< / span > ';
LRx = stewart.Jd< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > Rx_max < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #DCDCCC;" > ]< / span > ';
LRy = stewart.Jd< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > Ry_max < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #DCDCCC;" > ]< / span > ';
< / pre >
< / div >
< pre class = "example" >
1.0607e-05
< / pre >
< / div >
< / div >
< div id = "outline-container-org27bf97e" class = "outline-3" >
< h3 id = "org27bf97e" > < span class = "section-number-3" > 1.4< / span > Needed stroke for combined translations and rotations< / h3 >
< 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" >
< pre class = "src src-matlab" > Lmax = < span style = "color: #BFEBBF;" > 0< / span > ;
pos = < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #DCDCCC;" > ]< / span > ;
< span style = "color: #F0DFAF; font-weight: bold;" > for< / span > < span style = "color: #DFAF8F;" > Tx< / span > = < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > -Tx_max< / span > ,Tx_max< span style = "color: #DCDCCC;" > ]< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > for< / span > < span style = "color: #DFAF8F;" > Ty< / span > = < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > -Ty_max< / span > ,Ty_max< span style = "color: #DCDCCC;" > ]< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > for< / span > < span style = "color: #DFAF8F;" > Tz< / span > = < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > -Tz_max< / span > ,Tz_max< span style = "color: #DCDCCC;" > ]< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > for< / span > < span style = "color: #DFAF8F;" > Rx< / span > = < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > -Rx_max< / span > ,Rx_max< span style = "color: #DCDCCC;" > ]< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > for< / span > < span style = "color: #DFAF8F;" > Ry< / span > = < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #BFEBBF;" > -Ry_max< / span > ,Ry_max< span style = "color: #DCDCCC;" > ]< / span >
L = max< span style = "color: #DCDCCC;" > (< / span > stewart.Jd< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #BFEBBF;" > [< / span > Tx Ty Tz Rx Ry < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > ]< / span > '< span style = "color: #DCDCCC;" > )< / span > ;
< span style = "color: #F0DFAF; font-weight: bold;" > if< / span > L < span style = "color: #7CB8BB;" > > < / span > Lmax
Lmax = L;
pos = < span style = "color: #DCDCCC;" > [< / span > Tx Ty Tz Rx Ry< span style = "color: #DCDCCC;" > ]< / span > ;
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< / 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" >
3.0927e-05
< / pre >
< / div >
< / div >
< / div >
< div id = "outline-container-orgaebf111" class = "outline-2" >
< h2 id = "orgaebf111" > < span class = "section-number-2" > 2< / span > Maximum Stroke< / h2 >
< 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" >
< pre class = "src src-matlab" > < span style = "color: #DCDCCC;" > [< / span > X, Y, Z< span style = "color: #DCDCCC;" > ]< / span > = getMaxPositions< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #DFAF8F;" > stewart< / span > < span style = "color: #DCDCCC;" > )< / span > ;
< / pre >
< / div >
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span style = "color: #7CB8BB;" > figure< / span > ;
plot3< span style = "color: #DCDCCC;" > (< / span > X, Y, Z, < span style = "color: #CC9393;" > 'k-'< / span > < span style = "color: #DCDCCC;" > )< / span >
< / pre >
< / div >
< / div >
< / div >
< div id = "outline-container-orgfb8a1e7" class = "outline-2" >
< h2 id = "orgfb8a1e7" > < span class = "section-number-2" > 3< / span > Functions< / h2 >
< div class = "outline-text-2" id = "text-3" >
< / div >
< div id = "outline-container-org465746a" class = "outline-3" >
< h3 id = "org465746a" > < span class = "section-number-3" > 3.1< / span > getMaxPositions< / h3 >
< div class = "outline-text-3" id = "text-3-1" >
2019-03-22 12:03:59 +01:00
< div class = "org-src-container" >
< pre class = "src src-matlab" > < span style = "color: #F0DFAF; font-weight: bold;" > function< / span > < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #DFAF8F;" > X, Y, Z< / span > < span style = "color: #DCDCCC;" > ]< / span > = < span style = "color: #93E0E3;" > getMaxPositions< / span > < span style = "color: #DCDCCC;" > (< / span > < span style = "color: #DFAF8F;" > stewart< / span > < span style = "color: #DCDCCC;" > )< / span >
Leg = stewart.Leg;
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J = stewart.Jd;
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theta = linspace< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 0< / span > , < span style = "color: #BFEBBF;" > 2< / span > < span style = "color: #7CB8BB;" > *< / span > < span style = "color: #BFEBBF;" > pi< / span > , < span style = "color: #BFEBBF;" > 100< / span > < span style = "color: #DCDCCC;" > )< / span > ;
phi = linspace< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #7CB8BB;" > -< / span > < span style = "color: #BFEBBF;" > pi< / span > < span style = "color: #7CB8BB;" > /< / span > < span style = "color: #BFEBBF;" > 2< / span > , < span style = "color: #BFEBBF;" > pi< / span > < span style = "color: #7CB8BB;" > /< / span > < span style = "color: #BFEBBF;" > 2< / span > , < span style = "color: #BFEBBF;" > 100< / span > < span style = "color: #DCDCCC;" > )< / span > ;
dmax = zeros< span style = "color: #DCDCCC;" > (< / span > length< span style = "color: #BFEBBF;" > (< / span > theta< span style = "color: #BFEBBF;" > )< / span > , length< span style = "color: #BFEBBF;" > (< / span > phi< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
< span style = "color: #F0DFAF; font-weight: bold;" > for< / span > < span style = "color: #DFAF8F;" > i< / span > = < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > :length< / span > < span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > theta< / span > < span style = "color: #DCDCCC;" > )< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > for< / span > < span style = "color: #DFAF8F;" > j< / span > = < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > :length< / span > < span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > phi< / span > < span style = "color: #DCDCCC;" > )< / span >
L = J< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #DCDCCC;" > [< / span > cos< span style = "color: #BFEBBF;" > (< / span > phi< span style = "color: #D0BF8F;" > (< / span > < span style = "color: #BFEBBF;" > j< / span > < span style = "color: #D0BF8F;" > )< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #7CB8BB;" > *< / span > cos< span style = "color: #BFEBBF;" > (< / span > theta< span style = "color: #D0BF8F;" > (< / span > < span style = "color: #BFEBBF;" > i< / span > < span style = "color: #D0BF8F;" > )< / span > < span style = "color: #BFEBBF;" > )< / span > cos< span style = "color: #BFEBBF;" > (< / span > phi< span style = "color: #D0BF8F;" > (< / span > < span style = "color: #BFEBBF;" > j< / span > < span style = "color: #D0BF8F;" > )< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #7CB8BB;" > *< / span > sin< span style = "color: #BFEBBF;" > (< / span > theta< span style = "color: #D0BF8F;" > (< / span > < span style = "color: #BFEBBF;" > i< / span > < span style = "color: #D0BF8F;" > )< / span > < span style = "color: #BFEBBF;" > )< / span > sin< span style = "color: #BFEBBF;" > (< / span > phi< span style = "color: #D0BF8F;" > (< / span > < span style = "color: #BFEBBF;" > j< / span > < span style = "color: #D0BF8F;" > )< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #DCDCCC;" > ]< / span > ';
dmax< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > i< / span > , < span style = "color: #BFEBBF;" > j< / span > < span style = "color: #DCDCCC;" > )< / span > = Leg.stroke< span style = "color: #7CB8BB;" > /< / span > max< span style = "color: #DCDCCC;" > (< / span > abs< span style = "color: #BFEBBF;" > (< / span > L< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
X = dmax< span style = "color: #7CB8BB;" > .*< / span > cos< span style = "color: #DCDCCC;" > (< / span > repmat< span style = "color: #BFEBBF;" > (< / span > phi,length< span style = "color: #D0BF8F;" > (< / span > theta< span style = "color: #D0BF8F;" > )< / span > ,< span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > < span style = "color: #7CB8BB;" > .*< / span > cos< span style = "color: #DCDCCC;" > (< / span > repmat< span style = "color: #BFEBBF;" > (< / span > theta,length< span style = "color: #D0BF8F;" > (< / span > phi< span style = "color: #D0BF8F;" > )< / span > ,< span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ';
Y = dmax< span style = "color: #7CB8BB;" > .*< / span > cos< span style = "color: #DCDCCC;" > (< / span > repmat< span style = "color: #BFEBBF;" > (< / span > phi,length< span style = "color: #D0BF8F;" > (< / span > theta< span style = "color: #D0BF8F;" > )< / span > ,< span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > < span style = "color: #7CB8BB;" > .*< / span > sin< span style = "color: #DCDCCC;" > (< / span > repmat< span style = "color: #BFEBBF;" > (< / span > theta,length< span style = "color: #D0BF8F;" > (< / span > phi< span style = "color: #D0BF8F;" > )< / span > ,< span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ';
Z = dmax< span style = "color: #7CB8BB;" > .*< / span > sin< span style = "color: #DCDCCC;" > (< / span > repmat< span style = "color: #BFEBBF;" > (< / span > phi,length< span style = "color: #D0BF8F;" > (< / span > theta< span style = "color: #D0BF8F;" > )< / span > ,< span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< / pre >
< / div >
< / div >
< / div >
2019-03-26 09:25:04 +01:00
< div id = "outline-container-org527f7ca" class = "outline-3" >
< h3 id = "org527f7ca" > < span class = "section-number-3" > 3.2< / span > getMaxPureDisplacement< / h3 >
< div class = "outline-text-3" id = "text-3-2" >
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< div class = "org-src-container" >
< pre class = "src src-matlab" > < span style = "color: #F0DFAF; font-weight: bold;" > function< / span > < span style = "color: #DCDCCC;" > [< / span > < span style = "color: #DFAF8F;" > max_disp< / span > < span style = "color: #DCDCCC;" > ]< / span > = < span style = "color: #93E0E3;" > getMaxPureDisplacement< / span > < span style = "color: #DCDCCC;" > (< / span > < span style = "color: #DFAF8F;" > Leg< / span > , < span style = "color: #DFAF8F;" > J< / span > < span style = "color: #DCDCCC;" > )< / span >
max_disp = zeros< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 6< / span > , < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #DCDCCC;" > )< / span > ;
max_disp< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #DCDCCC;" > )< / span > = Leg.stroke< span style = "color: #7CB8BB;" > /< / span > max< span style = "color: #DCDCCC;" > (< / span > abs< span style = "color: #BFEBBF;" > (< / span > J< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #D0BF8F;" > [< / span > < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #D0BF8F;" > ]< / span > '< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
max_disp< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 2< / span > < span style = "color: #DCDCCC;" > )< / span > = Leg.stroke< span style = "color: #7CB8BB;" > /< / span > max< span style = "color: #DCDCCC;" > (< / span > abs< span style = "color: #BFEBBF;" > (< / span > J< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #D0BF8F;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #D0BF8F;" > ]< / span > '< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
max_disp< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 3< / span > < span style = "color: #DCDCCC;" > )< / span > = Leg.stroke< span style = "color: #7CB8BB;" > /< / span > max< span style = "color: #DCDCCC;" > (< / span > abs< span style = "color: #BFEBBF;" > (< / span > J< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #D0BF8F;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #D0BF8F;" > ]< / span > '< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
max_disp< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 4< / span > < span style = "color: #DCDCCC;" > )< / span > = Leg.stroke< span style = "color: #7CB8BB;" > /< / span > max< span style = "color: #DCDCCC;" > (< / span > abs< span style = "color: #BFEBBF;" > (< / span > J< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #D0BF8F;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #D0BF8F;" > ]< / span > '< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
max_disp< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 5< / span > < span style = "color: #DCDCCC;" > )< / span > = Leg.stroke< span style = "color: #7CB8BB;" > /< / span > max< span style = "color: #DCDCCC;" > (< / span > abs< span style = "color: #BFEBBF;" > (< / span > J< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #D0BF8F;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #D0BF8F;" > ]< / span > '< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
max_disp< span style = "color: #DCDCCC;" > (< / span > < span style = "color: #BFEBBF;" > 6< / span > < span style = "color: #DCDCCC;" > )< / span > = Leg.stroke< span style = "color: #7CB8BB;" > /< / span > max< span style = "color: #DCDCCC;" > (< / span > abs< span style = "color: #BFEBBF;" > (< / span > J< span style = "color: #7CB8BB;" > *< / span > < span style = "color: #D0BF8F;" > [< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 0< / span > < span style = "color: #BFEBBF;" > 1< / span > < span style = "color: #D0BF8F;" > ]< / span > '< span style = "color: #BFEBBF;" > )< / span > < span style = "color: #DCDCCC;" > )< / span > ;
< span style = "color: #F0DFAF; font-weight: bold;" > end< / span >
< / pre >
< / div >
< / div >
< / div >
< / div >
< / div >
< div id = "postamble" class = "status" >
< p class = "author" > Author: Thomas Dehaeze< / p >
2019-03-26 09:25:04 +01:00
< p class = "date" > Created: 2019-03-26 mar. 09:24< / 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 >
