tdehaeze/stewart-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add index.org file with matlab functions included

Browse Source
This commit is contained in:
Thomas Dehaeze
2019-03-20 09:32:24 +01:00
parent 482f8acd3f
commit 057ac440aa
15 changed files with 378 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/getStiffnessMatrix.m
View File

@@ -1,5 +1,5 @@
function [K] = getStiffnessMatrix(k, J)
% k - leg stiffness
% J - Jacobian matrix
% k - leg stiffness
% J - Jacobian matrix
K = k*(J'*J);
end

2
src/identifyPlant.m
View File

@@ -1,5 +1,5 @@
function [sys] = identifyPlant(opts_param)
%% Default values for opts
%% Default values for opts
opts = struct();
%% Populate opts with input parameters

18
src/initializeHexapod.m
View File

@@ -1,11 +1,11 @@
function [stewart] = initializeHexapod(opts_param)
%% Default values for opts
%% Default values for opts
opts = struct(...
'height', 90, ... % Height of the platform [mm]
'jacobian', 150, ... % Jacobian offset [mm]
'density', 8000, ... % Density of hexapod [mm]
'name', 'stewart' ... % Name of the file
);
);
%% Populate opts with input parameters
if exist('opts_param','var')
@@ -54,10 +54,10 @@ function [stewart] = initializeHexapod(opts_param)
elseif strcmp(opts.actuator, 'lorentz')
Leg.k.ax = 1e4; % Stiffness of each leg [N/m]
Leg.c.ax = 200; % [N/(m/s)]
elseif isnumeric(opts.actuator)
elseif isnumeric(opts.actuator)
Leg.k.ax = opts.actuator; % Stiffness of each leg [N/m]
Leg.c.ax = 100; % [N/(m/s)]
else
else
error('opts.actuator should be piezo or lorentz or numeric value');
end
Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
@@ -109,7 +109,7 @@ function [stewart] = initializeHexapod(opts_param)
%% Initialize Parameters
function [stewart] = initializeParameters(stewart)
%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
stewart.pos_base = zeros(6, 3);
stewart.pos_top = zeros(6, 3);
@@ -188,18 +188,18 @@ function [stewart] = initializeHexapod(opts_param)
%% Compute Jacobian Matrix
% TODO
% aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
% aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
bb = stewart.pos_top_tranform - (stewart.TP.thickness + stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
bb = bb - stewart.jacobian*1e-3*[zeros(6, 2),ones(6, 1)];
stewart.J = getJacobianMatrix(leg_vectors', bb');
stewart.K = stewart.Leg.k.ax*stewart.J'*stewart.J;
end
%% Compute the Jacobian Matrix
function J = getJacobianMatrix(RM, M_pos_base)
% RM - [3x6] unit vector of each leg in the fixed frame
% M_pos_base - [3x6] vector of the leg connection at the top platform location in the fixed frame
% RM - [3x6] unit vector of each leg in the fixed frame
% M_pos_base - [3x6] vector of the leg connection at the top platform location in the fixed frame
J = zeros(6);
J(:, 1:3) = RM';

4
src/initializeSample.m
View File

@@ -1,5 +1,5 @@
function [] = initializeSample(opts_param)
%% Default values for opts
%% Default values for opts
sample = struct( ...
'radius', 100, ... % radius of the cylinder [mm]
'height', 300, ... % height of the cylinder [mm]
@@ -7,7 +7,7 @@ function [] = initializeSample(opts_param)
'measheight', 150, ... % measurement point z-offset [mm]
'offset', [0, 0, 0], ... % offset position of the sample [mm]
'color', [0.9 0.1 0.1] ...
);
);
%% Populate opts with input parameters
if exist('opts_param','var')