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Work on HAC-LAC, Control architectures

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Thomas Dehaeze
2020-02-28 17:35:44 +01:00
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docs/cubic-configuration.html
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<!-- 2020-02-27 jeu. 14:16 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Cubic configuration for the Stewart Platform</title>
@@ -252,33 +252,33 @@
<li><a href="#orga88e79a">1.2. Cubic Stewart platform centered with the cube center - Jacobian not estimated at the cube center</a></li>
<li><a href="#orge02ec88">1.3. Cubic Stewart platform not centered with the cube center - Jacobian estimated at the cube center</a></li>
<li><a href="#org43fd7e4">1.4. Cubic Stewart platform not centered with the cube center - Jacobian estimated at the Stewart platform center</a></li>
<li><a href="#orgd6c60aa">1.5. Conclusion</a></li>
<li><a href="#org3e2b41c">1.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgd70418b">2. Configuration with the Cube&rsquo;s center above the mobile platform</a>
<ul>
<li><a href="#org8afa645">2.1. Having Cube&rsquo;s center above the top platform</a></li>
<li><a href="#org78f0f9c">2.2. Conclusion</a></li>
<li><a href="#orgeeac940">2.2. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgcc4ecce">3. Cubic size analysis</a>
<ul>
<li><a href="#org0029d8c">3.1. Analysis</a></li>
<li><a href="#org53a1ab8">3.2. Conclusion</a></li>
<li><a href="#org991d232">3.2. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgf09da67">4. Dynamic Coupling in the Cartesian Frame</a>
<ul>
<li><a href="#org5fe01ec">4.1. Cube&rsquo;s center at the Center of Mass of the mobile platform</a></li>
<li><a href="#org4cb2a36">4.2. Cube&rsquo;s center not coincident with the Mass of the Mobile platform</a></li>
<li><a href="#orga0d81dc">4.3. Conclusion</a></li>
<li><a href="#orgf0acd1f">4.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org8f26dc0">5. Dynamic Coupling between actuators and sensors of each strut</a>
<ul>
<li><a href="#org6e391c9">5.1. Coupling between the actuators and sensors - Cubic Architecture</a></li>
<li><a href="#orgafd808d">5.2. Coupling between the actuators and sensors - Non-Cubic Architecture</a></li>
<li><a href="#org3e2b41c">5.3. Conclusion</a></li>
<li><a href="#org78c4967">5.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org3044455">6. Functions</a>
@@ -826,8 +826,8 @@ stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'
</div>
</div>
<div id="outline-container-orgd6c60aa" class="outline-3">
<h3 id="orgd6c60aa"><span class="section-number-3">1.5</span> Conclusion</h3>
<div id="outline-container-org3e2b41c" class="outline-3">
<h3 id="org3e2b41c"><span class="section-number-3">1.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-1-5">
<div class="important">
<p>
@@ -1164,8 +1164,8 @@ FOc = H <span class="org-type">+</span> MO_B; <span class="org-comment">% Cente
</div>
</div>
<div id="outline-container-org78f0f9c" class="outline-3">
<h3 id="org78f0f9c"><span class="section-number-3">2.2</span> Conclusion</h3>
<div id="outline-container-orgeeac940" class="outline-3">
<h3 id="orgeeac940"><span class="section-number-3">2.2</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-2">
<div class="important">
<p>
@@ -1251,8 +1251,8 @@ We also find that \(k_{\theta_x} = k_{\theta_y}\) and \(k_{\theta_z}\) are varyi
</div>
</div>
<div id="outline-container-org53a1ab8" class="outline-3">
<h3 id="org53a1ab8"><span class="section-number-3">3.2</span> Conclusion</h3>
<div id="outline-container-org991d232" class="outline-3">
<h3 id="org991d232"><span class="section-number-3">3.2</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-2">
<p>
We observe that \(k_{\theta_x} = k_{\theta_y}\) and \(k_{\theta_z}\) increase linearly with the cube size.
@@ -1391,6 +1391,7 @@ No flexibility below the Stewart platform and no payload.
<div class="org-src-container">
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
</pre>
</div>
@@ -1535,6 +1536,7 @@ No flexibility below the Stewart platform and no payload.
<div class="org-src-container">
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
</pre>
</div>
@@ -1607,8 +1609,8 @@ This was expected as the mass matrix is not diagonal (the Center of Mass of the
</div>
</div>
<div id="outline-container-orga0d81dc" class="outline-3">
<h3 id="orga0d81dc"><span class="section-number-3">4.3</span> Conclusion</h3>
<div id="outline-container-orgf0acd1f" class="outline-3">
<h3 id="orgf0acd1f"><span class="section-number-3">4.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-4-3">
<div class="important">
<p>
@@ -1693,6 +1695,7 @@ No flexibility below the Stewart platform and no payload.
<div class="org-src-container">
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
</pre>
</div>
@@ -1760,6 +1763,7 @@ No flexibility below the Stewart platform and no payload.
<div class="org-src-container">
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
</pre>
</div>
@@ -1790,8 +1794,8 @@ And we identify the dynamics from the actuator forces \(\tau_{i}\) to the relati
</div>
</div>
<div id="outline-container-org3e2b41c" class="outline-3">
<h3 id="org3e2b41c"><span class="section-number-3">5.3</span> Conclusion</h3>
<div id="outline-container-org78c4967" class="outline-3">
<h3 id="org78c4967"><span class="section-number-3">5.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-5-3">
<div class="important">
<p>
@@ -1962,7 +1966,7 @@ stewart.platform_M.Mb = Mb;
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-27 jeu. 14:16</p>
<p class="date">Created: 2020-02-28 ven. 17:34</p>
</div>
</body>
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