Initialize Stewart platform in the wanted position
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@ -1,2 +1,2 @@
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<?xml version='1.0' encoding='UTF-8'?>
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<Info Value="true" />
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<Info Value="false" />
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@ -45,7 +45,10 @@
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stewart = generateCubicConfiguration(stewart, 'Hc', 40e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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#+end_src
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** Identification of the Dynamics
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@ -69,17 +69,14 @@
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** Initialize the Stewart platform
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#+begin_src matlab
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stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
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% stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
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stewart = initializeFramesPositions();
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = initializeStrutDynamics(stewart);
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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#+end_src
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** Initialize the Simulation
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#+begin_src matlab
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load('mat/conf_simscape.mat');
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stewart = initializeStewartPose(stewart);
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#+end_src
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** Identification of the plant
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@ -53,7 +53,7 @@ The goal is to study the benefits of using a cubic configuration:
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- No coupling between the actuators?
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- Is the center of the cube an important point?
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* Configuration Analysis - Stiffness Matrix
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* TODO Configuration Analysis - Stiffness Matrix
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** Cubic Stewart platform centered with the cube center - Jacobian estimated at the cube center
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We create a cubic Stewart platform (figure [[fig:3d-cubic-stewart-aligned]]) in such a way that the center of the cube (black dot) is located at the center of the Stewart platform (blue dot).
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The Jacobian matrix is estimated at the location of the center of the cube.
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@ -228,7 +228,7 @@ We obtain $k_x = k_y = k_z$ and $k_{\theta_x} = k_{\theta_y}$, but the Stiffness
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- The stiffness matrix $K$ is diagonal for the cubic configuration if the Stewart platform and the cube are centered *and* the Jacobian is estimated at the cube center
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#+end_important
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* Cubic size analysis
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* TODO Cubic size analysis
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We here study the effect of the size of the cube used for the Stewart configuration.
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We fix the height of the Stewart platform, the center of the cube is at the center of the Stewart platform.
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@ -304,14 +304,14 @@ We observe that $k_{\theta_x} = k_{\theta_y}$ and $k_{\theta_z}$ increase linear
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In that case, the legs will the further separated. Size of the cube is then limited by allowed space.
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#+end_important
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* initializeCubicConfiguration
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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+: :eval no
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:HEADER-ARGS:matlab+: :tangle src/initializeCubicConfiguration.m
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:END:
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<<sec:initializeCubicConfiguration>>
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* TODO initializeCubicConfiguration
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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+: :eval no
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:HEADER-ARGS:matlab+: :tangle src/initializeCubicConfiguration.m
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:END:
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<<sec:initializeCubicConfiguration>>
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** Function description
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#+begin_src matlab
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@ -449,7 +449,7 @@ And the location of the joints on the mobile platform with respect to $\{B\}$.
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end
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#+end_src
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* Tests
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* TODO Tests
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** First attempt to parametrisation
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#+name: fig:stewart_bottom_plate
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#+caption: Schematic of the bottom plates with all the parameters
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@ -41,11 +41,14 @@
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** test
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#+begin_src matlab
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stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
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stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
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stewart = initializeFramesPositions();
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = initializeStrutDynamics(stewart);
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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#+end_src
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Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}$:
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@ -126,11 +129,14 @@ Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}
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** Compare external forces and forces applied by the actuators
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Initialization of the Stewart platform.
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#+begin_src matlab
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stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
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stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
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stewart = initializeFramesPositions();
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = initializeStrutDynamics(stewart);
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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#+end_src
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Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}$:
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@ -188,11 +194,14 @@ Seems quite similar.
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** Comparison of the static transfer function and the Compliance matrix
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Initialization of the Stewart platform.
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#+begin_src matlab
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stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
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stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
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stewart = initializeFramesPositions();
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = initializeStrutDynamics(stewart);
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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#+end_src
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Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}$:
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@ -248,11 +257,14 @@ The low frequency transfer function matrix from $\mathcal{\bm{F}}$ to $\mathcal{
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** Transfer function from forces applied in the legs to the displacement of the legs
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Initialization of the Stewart platform.
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#+begin_src matlab
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stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
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stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
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stewart = initializeFramesPositions();
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = initializeStrutDynamics(stewart);
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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#+end_src
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Estimation of the transfer function from $\bm{\tau}$ to $\bm{L}$:
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@ -106,8 +106,11 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart, 'AP', [0;0;0.01], 'ARB', eye(3));
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[Li, dLi] = inverseKinematics(stewart, 'AP', [0;0;0.00001], 'ARB', eye(3));
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[P, R] = forwardKinematicsApprox(stewart, 'dL', dLi);
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#+end_src
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@ -268,8 +271,6 @@ This Matlab function is accessible [[file:src/generateGeneralConfiguration.m][he
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% Syntax: [stewart] = generateGeneralConfiguration(stewart, args)
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%
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% Inputs:
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% - stewart - A structure with the following fields
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% - H [1x1] - Total height of the platform [m]
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% - args - Can have the following fields:
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% - FH [1x1] - Height of the position of the fixed joints with respect to the frame {F} [m]
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% - FR [1x1] - Radius of the position of the fixed joints in the X-Y [m]
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@ -477,6 +478,81 @@ This Matlab function is accessible [[file:src/computeJacobian.m][here]].
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#+end_src
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* Initialize the Geometry of the Mechanical Elements
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** =initializeCylindricalPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
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:PROPERTIES:
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:header-args:matlab+: :tangle src/initializeCylindricalPlatforms.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeCylindricalPlatforms>>
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This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][here]].
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*** Function description
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#+begin_src matlab
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function [stewart] = initializeCylindricalPlatforms(stewart, args)
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% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
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%
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% Syntax: [stewart] = initializeCylindricalPlatforms(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platforms [struct] - structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Msi [3x3] - Mobile Platform Inertia matrix [kg*m^2]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Fsi [3x3] - Fixed Platform Inertia matrix [kg*m^2]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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#+end_src
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*** Optional Parameters
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#+begin_src matlab
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arguments
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stewart
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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end
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#+end_src
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*** Create the =platforms= struct
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#+begin_src matlab
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platforms = struct();
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platforms.Fpm = args.Fpm;
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platforms.Fph = args.Fph;
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platforms.Fpr = args.Fpr;
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platforms.Fpi = diag([1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/2 * platforms.Fpm * platforms.Fpr^2]);
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platforms.Mpm = args.Mpm;
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platforms.Mph = args.Mph;
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platforms.Mpr = args.Mpr;
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platforms.Mpi = diag([1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/2 * platforms.Mpm * platforms.Mpr^2]);
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#+end_src
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*** Save the =platforms= struct
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#+begin_src matlab
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stewart.platforms = platforms;
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#+end_src
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** =initializeCylindricalStruts=: Define the mass and moment of inertia of cylindrical struts
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:PROPERTIES:
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:header-args:matlab+: :tangle src/initializeCylindricalStruts.m
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@ -556,79 +632,50 @@ This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][her
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stewart.struts = struts;
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#+end_src
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** =initializeCylindricalPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
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* =initializeStewartPose=: Determine the initial stroke in each leg to have the wanted pose
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:PROPERTIES:
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:header-args:matlab+: :tangle src/initializeCylindricalPlatforms.m
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:header-args:matlab+: :tangle src/initializeStewartPose.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeCylindricalPlatforms>>
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<<sec:initializeStewartPose>>
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This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][here]].
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This Matlab function is accessible [[file:src/initializeStewartPose.m][here]].
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*** Function description
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** Function description
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#+begin_src matlab
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function [stewart] = initializeCylindricalPlatforms(stewart, args)
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% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
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function [stewart] = initializeStewartPose(stewart, args)
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% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose
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% It uses the inverse kinematic
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%
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% Syntax: [stewart] = initializeCylindricalPlatforms(args)
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% Syntax: [stewart] = initializeStewartPose(stewart, args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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% - stewart - A structure with the following fields
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% - Aa [3x6] - The positions ai expressed in {A}
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% - Bb [3x6] - The positions bi expressed in {B}
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% - args - Can have the following fields:
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% - AP [3x1] - The wanted position of {B} with respect to {A}
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% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platforms [struct] - structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Msi [3x3] - Mobile Platform Inertia matrix [kg*m^2]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Fsi [3x3] - Fixed Platform Inertia matrix [kg*m^2]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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% - dLi[6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}
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#+end_src
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*** Optional Parameters
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** Optional Parameters
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#+begin_src matlab
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arguments
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stewart
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
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args.ARB (3,3) double {mustBeNumeric} = eye(3)
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end
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#+end_src
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*** Create the =platforms= struct
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** Use the Inverse Kinematic function
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#+begin_src matlab
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platforms = struct();
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[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
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platforms.Fpm = args.Fpm;
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platforms.Fph = args.Fph;
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platforms.Fpr = args.Fpr;
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platforms.Fpi = diag([1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/2 * platforms.Fpm * platforms.Fpr^2]);
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platforms.Mpm = args.Mpm;
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platforms.Mph = args.Mph;
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platforms.Mpr = args.Mpr;
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platforms.Mpi = diag([1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/2 * platforms.Mpm * platforms.Mpr^2]);
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#+end_src
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||||
*** Save the =platforms= struct
|
||||
#+begin_src matlab
|
||||
stewart.platforms = platforms;
|
||||
stewart.dLi = dLi;
|
||||
#+end_src
|
||||
|
||||
* Utility Functions
|
||||
|
||||
Binary file not shown.
Binary file not shown.
27
src/initializeStewartPose.m
Normal file
27
src/initializeStewartPose.m
Normal file
@ -0,0 +1,27 @@
|
||||
function [stewart] = initializeStewartPose(stewart, args)
|
||||
% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose
|
||||
% It uses the inverse kinematic
|
||||
%
|
||||
% Syntax: [stewart] = initializeStewartPose(stewart, args)
|
||||
%
|
||||
% Inputs:
|
||||
% - stewart - A structure with the following fields
|
||||
% - Aa [3x6] - The positions ai expressed in {A}
|
||||
% - Bb [3x6] - The positions bi expressed in {B}
|
||||
% - args - Can have the following fields:
|
||||
% - AP [3x1] - The wanted position of {B} with respect to {A}
|
||||
% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
|
||||
%
|
||||
% Outputs:
|
||||
% - stewart - updated Stewart structure with the added fields:
|
||||
% - dLi[6x1] - The 6 needed displacement of the struts from the initial position in [m] to have the wanted pose of {B} w.r.t. {A}
|
||||
|
||||
arguments
|
||||
stewart
|
||||
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
|
||||
args.ARB (3,3) double {mustBeNumeric} = eye(3)
|
||||
end
|
||||
|
||||
[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
|
||||
|
||||
stewart.dLi = dLi;
|
||||
@ -1,294 +0,0 @@
|
||||
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|
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<title>Stiffness of the Stewart Platform</title>
|
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(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
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#org-div-home-and-up
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#org-info-js_console-label
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{ font-size: 10px; font-weight: bold; white-space: nowrap; }
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.org-info-js_search-highlight
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{ background-color: #ffff00; color: #000000; font-weight: bold; }
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.org-svg { width: 90%; }
|
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/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<script src="./js/jquery.min.js"></script>
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<script src="./js/bootstrap.min.js"></script>
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<script src="./js/jquery.stickytableheaders.min.js"></script>
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||||
<script src="./js/readtheorg.js"></script>
|
||||
<script type="text/javascript">
|
||||
/*
|
||||
@licstart The following is the entire license notice for the
|
||||
JavaScript code in this tag.
|
||||
|
||||
Copyright (C) 2012-2019 Free Software Foundation, Inc.
|
||||
|
||||
The JavaScript code in this tag is free software: you can
|
||||
redistribute it and/or modify it under the terms of the GNU
|
||||
General Public License (GNU GPL) as published by the Free Software
|
||||
Foundation, either version 3 of the License, or (at your option)
|
||||
any later version. The code is distributed WITHOUT ANY WARRANTY;
|
||||
without even the implied warranty of MERCHANTABILITY or FITNESS
|
||||
FOR A PARTICULAR PURPOSE. See the GNU GPL for more details.
|
||||
|
||||
As additional permission under GNU GPL version 3 section 7, you
|
||||
may distribute non-source (e.g., minimized or compacted) forms of
|
||||
that code without the copy of the GNU GPL normally required by
|
||||
section 4, provided you include this license notice and a URL
|
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through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
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||||
for the JavaScript code in this tag.
|
||||
*/
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||||
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|
||||
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|
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/*]]>*///-->
|
||||
</script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="./index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Stiffness of the Stewart Platform</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#org4cfa1de">1. Functions</a>
|
||||
<ul>
|
||||
<li><a href="#orgf252177">1.1. getStiffnessMatrix</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4cfa1de" class="outline-2">
|
||||
<h2 id="org4cfa1de"><span class="section-number-2">1</span> Functions</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
</div>
|
||||
<div id="outline-container-orgf252177" class="outline-3">
|
||||
<h3 id="orgf252177"><span class="section-number-3">1.1</span> getStiffnessMatrix</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<div class="org-src-container">
|
||||
<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">K</span><span class="org-variable-name"><span class="org-rainbow-delimiters-depth-1">]</span></span> = <span class="org-function-name">getStiffnessMatrix</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">k</span>, <span class="org-variable-name">J</span><span class="org-rainbow-delimiters-depth-1">)</span>
|
||||
<span class="org-comment">% k - leg stiffness</span>
|
||||
<span class="org-comment">% J - Jacobian matrix</span>
|
||||
K = k<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">(</span>J'<span class="org-type">*</span>J<span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-08-26 lun. 11:56</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
@ -1,41 +0,0 @@
|
||||
#+TITLE: Stiffness of the Stewart Platform
|
||||
:DRAWER:
|
||||
#+HTML_LINK_HOME: ./index.html
|
||||
#+HTML_LINK_UP: ./index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
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#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
|
||||
|
||||
#+PROPERTY: header-args:matlab :session *MATLAB*
|
||||
#+PROPERTY: header-args:matlab+ :tangle matlab/stiffness_study.m
|
||||
#+PROPERTY: header-args:matlab+ :comments org
|
||||
#+PROPERTY: header-args:matlab+ :exports both
|
||||
#+PROPERTY: header-args:matlab+ :results none
|
||||
#+PROPERTY: header-args:matlab+ :eval no-export
|
||||
#+PROPERTY: header-args:matlab+ :noweb yes
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
#+PROPERTY: header-args:matlab+ :output-dir figs
|
||||
:END:
|
||||
|
||||
* Functions
|
||||
:PROPERTIES:
|
||||
:HEADER-ARGS:matlab+: :exports code
|
||||
:HEADER-ARGS:matlab+: :comments no
|
||||
:HEADER-ARGS:matlab+: :mkdir yes
|
||||
:HEADER-ARGS:matlab+: :eval no
|
||||
:END:
|
||||
** getStiffnessMatrix
|
||||
:PROPERTIES:
|
||||
:HEADER-ARGS:matlab+: :tangle src/getStiffnessMatrix.m
|
||||
:END:
|
||||
#+begin_src matlab
|
||||
function [K] = getStiffnessMatrix(k, J)
|
||||
% k - leg stiffness
|
||||
% J - Jacobian matrix
|
||||
K = k*(J'*J);
|
||||
end
|
||||
#+end_src
|
||||
Loading…
Reference in New Issue
Block a user