Initialize Stewart platform in the wanted position
This commit is contained in:
parent
99f9e46046
commit
0833009e48
@ -1,2 +1,2 @@
|
||||
<?xml version='1.0' encoding='UTF-8'?>
|
||||
<Info Value="true" />
|
||||
<Info Value="false" />
|
||||
@ -45,7 +45,10 @@
|
||||
stewart = generateCubicConfiguration(stewart, 'Hc', 40e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||
stewart = initializeCylindricalPlatforms(stewart);
|
||||
stewart = initializeCylindricalStruts(stewart);
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart);
|
||||
#+end_src
|
||||
|
||||
** Identification of the Dynamics
|
||||
|
||||
@ -69,17 +69,14 @@
|
||||
|
||||
** Initialize the Stewart platform
|
||||
#+begin_src matlab
|
||||
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
|
||||
% stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
|
||||
stewart = initializeFramesPositions();
|
||||
stewart = generateGeneralConfiguration(stewart);
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||
stewart = initializeStrutDynamics(stewart);
|
||||
stewart = initializeCylindricalPlatforms(stewart);
|
||||
stewart = initializeCylindricalStruts(stewart);
|
||||
stewart = computeJacobian(stewart);
|
||||
#+end_src
|
||||
|
||||
** Initialize the Simulation
|
||||
#+begin_src matlab
|
||||
load('mat/conf_simscape.mat');
|
||||
stewart = initializeStewartPose(stewart);
|
||||
#+end_src
|
||||
|
||||
** Identification of the plant
|
||||
|
||||
@ -53,7 +53,7 @@ The goal is to study the benefits of using a cubic configuration:
|
||||
- No coupling between the actuators?
|
||||
- Is the center of the cube an important point?
|
||||
|
||||
* Configuration Analysis - Stiffness Matrix
|
||||
* TODO Configuration Analysis - Stiffness Matrix
|
||||
** Cubic Stewart platform centered with the cube center - Jacobian estimated at the cube center
|
||||
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).
|
||||
The Jacobian matrix is estimated at the location of the center of the cube.
|
||||
@ -228,7 +228,7 @@ We obtain $k_x = k_y = k_z$ and $k_{\theta_x} = k_{\theta_y}$, but the Stiffness
|
||||
- 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
|
||||
#+end_important
|
||||
|
||||
* Cubic size analysis
|
||||
* TODO Cubic size analysis
|
||||
We here study the effect of the size of the cube used for the Stewart configuration.
|
||||
|
||||
We fix the height of the Stewart platform, the center of the cube is at the center of the Stewart platform.
|
||||
@ -304,7 +304,7 @@ We observe that $k_{\theta_x} = k_{\theta_y}$ and $k_{\theta_z}$ increase linear
|
||||
In that case, the legs will the further separated. Size of the cube is then limited by allowed space.
|
||||
#+end_important
|
||||
|
||||
* initializeCubicConfiguration
|
||||
* TODO initializeCubicConfiguration
|
||||
:PROPERTIES:
|
||||
:HEADER-ARGS:matlab+: :exports code
|
||||
:HEADER-ARGS:matlab+: :comments no
|
||||
@ -449,7 +449,7 @@ And the location of the joints on the mobile platform with respect to $\{B\}$.
|
||||
end
|
||||
#+end_src
|
||||
|
||||
* Tests
|
||||
* TODO Tests
|
||||
** First attempt to parametrisation
|
||||
#+name: fig:stewart_bottom_plate
|
||||
#+caption: Schematic of the bottom plates with all the parameters
|
||||
|
||||
@ -41,11 +41,14 @@
|
||||
|
||||
** test
|
||||
#+begin_src matlab
|
||||
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
|
||||
stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
|
||||
stewart = initializeFramesPositions();
|
||||
stewart = generateGeneralConfiguration(stewart);
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||
stewart = initializeStrutDynamics(stewart);
|
||||
stewart = initializeCylindricalPlatforms(stewart);
|
||||
stewart = initializeCylindricalStruts(stewart);
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart);
|
||||
#+end_src
|
||||
|
||||
Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}$:
|
||||
@ -126,11 +129,14 @@ Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}
|
||||
** Compare external forces and forces applied by the actuators
|
||||
Initialization of the Stewart platform.
|
||||
#+begin_src matlab
|
||||
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
|
||||
stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
|
||||
stewart = initializeFramesPositions();
|
||||
stewart = generateGeneralConfiguration(stewart);
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||
stewart = initializeStrutDynamics(stewart);
|
||||
stewart = initializeCylindricalPlatforms(stewart);
|
||||
stewart = initializeCylindricalStruts(stewart);
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart);
|
||||
#+end_src
|
||||
|
||||
Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}$:
|
||||
@ -188,11 +194,14 @@ Seems quite similar.
|
||||
** Comparison of the static transfer function and the Compliance matrix
|
||||
Initialization of the Stewart platform.
|
||||
#+begin_src matlab
|
||||
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
|
||||
stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
|
||||
stewart = initializeFramesPositions();
|
||||
stewart = generateGeneralConfiguration(stewart);
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||
stewart = initializeStrutDynamics(stewart);
|
||||
stewart = initializeCylindricalPlatforms(stewart);
|
||||
stewart = initializeCylindricalStruts(stewart);
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart);
|
||||
#+end_src
|
||||
|
||||
Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}$:
|
||||
@ -248,11 +257,14 @@ The low frequency transfer function matrix from $\mathcal{\bm{F}}$ to $\mathcal{
|
||||
** Transfer function from forces applied in the legs to the displacement of the legs
|
||||
Initialization of the Stewart platform.
|
||||
#+begin_src matlab
|
||||
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
|
||||
stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
|
||||
stewart = initializeFramesPositions();
|
||||
stewart = generateGeneralConfiguration(stewart);
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||
stewart = initializeStrutDynamics(stewart);
|
||||
stewart = initializeCylindricalPlatforms(stewart);
|
||||
stewart = initializeCylindricalStruts(stewart);
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart);
|
||||
#+end_src
|
||||
|
||||
Estimation of the transfer function from $\bm{\tau}$ to $\bm{L}$:
|
||||
|
||||
@ -106,8 +106,11 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain
|
||||
stewart = generateGeneralConfiguration(stewart);
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
|
||||
stewart = initializeCylindricalPlatforms(stewart);
|
||||
stewart = initializeCylindricalStruts(stewart);
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart, 'AP', [0;0;0.01], 'ARB', eye(3));
|
||||
|
||||
[Li, dLi] = inverseKinematics(stewart, 'AP', [0;0;0.00001], 'ARB', eye(3));
|
||||
[P, R] = forwardKinematicsApprox(stewart, 'dL', dLi);
|
||||
#+end_src
|
||||
@ -268,8 +271,6 @@ This Matlab function is accessible [[file:src/generateGeneralConfiguration.m][he
|
||||
% Syntax: [stewart] = generateGeneralConfiguration(stewart, args)
|
||||
%
|
||||
% Inputs:
|
||||
% - stewart - A structure with the following fields
|
||||
% - H [1x1] - Total height of the platform [m]
|
||||
% - args - Can have the following fields:
|
||||
% - FH [1x1] - Height of the position of the fixed joints with respect to the frame {F} [m]
|
||||
% - FR [1x1] - Radius of the position of the fixed joints in the X-Y [m]
|
||||
@ -477,6 +478,81 @@ This Matlab function is accessible [[file:src/computeJacobian.m][here]].
|
||||
#+end_src
|
||||
|
||||
* Initialize the Geometry of the Mechanical Elements
|
||||
** =initializeCylindricalPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle src/initializeCylindricalPlatforms.m
|
||||
:header-args:matlab+: :comments none :mkdirp yes :eval no
|
||||
:END:
|
||||
<<sec:initializeCylindricalPlatforms>>
|
||||
|
||||
This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][here]].
|
||||
|
||||
*** Function description
|
||||
#+begin_src matlab
|
||||
function [stewart] = initializeCylindricalPlatforms(stewart, args)
|
||||
% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
|
||||
%
|
||||
% Syntax: [stewart] = initializeCylindricalPlatforms(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args - Structure with the following fields:
|
||||
% - Fpm [1x1] - Fixed Platform Mass [kg]
|
||||
% - Fph [1x1] - Fixed Platform Height [m]
|
||||
% - Fpr [1x1] - Fixed Platform Radius [m]
|
||||
% - Mpm [1x1] - Mobile Platform Mass [kg]
|
||||
% - Mph [1x1] - Mobile Platform Height [m]
|
||||
% - Mpr [1x1] - Mobile Platform Radius [m]
|
||||
%
|
||||
% Outputs:
|
||||
% - stewart - updated Stewart structure with the added fields:
|
||||
% - platforms [struct] - structure with the following fields:
|
||||
% - Fpm [1x1] - Fixed Platform Mass [kg]
|
||||
% - Msi [3x3] - Mobile Platform Inertia matrix [kg*m^2]
|
||||
% - Fph [1x1] - Fixed Platform Height [m]
|
||||
% - Fpr [1x1] - Fixed Platform Radius [m]
|
||||
% - Mpm [1x1] - Mobile Platform Mass [kg]
|
||||
% - Fsi [3x3] - Fixed Platform Inertia matrix [kg*m^2]
|
||||
% - Mph [1x1] - Mobile Platform Height [m]
|
||||
% - Mpr [1x1] - Mobile Platform Radius [m]
|
||||
#+end_src
|
||||
|
||||
*** Optional Parameters
|
||||
#+begin_src matlab
|
||||
arguments
|
||||
stewart
|
||||
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
|
||||
args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
|
||||
args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
|
||||
args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** Create the =platforms= struct
|
||||
#+begin_src matlab
|
||||
platforms = struct();
|
||||
|
||||
platforms.Fpm = args.Fpm;
|
||||
platforms.Fph = args.Fph;
|
||||
platforms.Fpr = args.Fpr;
|
||||
platforms.Fpi = diag([1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
|
||||
1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
|
||||
1/2 * platforms.Fpm * platforms.Fpr^2]);
|
||||
|
||||
platforms.Mpm = args.Mpm;
|
||||
platforms.Mph = args.Mph;
|
||||
platforms.Mpr = args.Mpr;
|
||||
platforms.Mpi = diag([1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
|
||||
1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
|
||||
1/2 * platforms.Mpm * platforms.Mpr^2]);
|
||||
#+end_src
|
||||
|
||||
*** Save the =platforms= struct
|
||||
#+begin_src matlab
|
||||
stewart.platforms = platforms;
|
||||
#+end_src
|
||||
|
||||
** =initializeCylindricalStruts=: Define the mass and moment of inertia of cylindrical struts
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle src/initializeCylindricalStruts.m
|
||||
@ -556,79 +632,50 @@ This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][her
|
||||
stewart.struts = struts;
|
||||
#+end_src
|
||||
|
||||
** =initializeCylindricalPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
|
||||
* =initializeStewartPose=: Determine the initial stroke in each leg to have the wanted pose
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle src/initializeCylindricalPlatforms.m
|
||||
:header-args:matlab+: :tangle src/initializeStewartPose.m
|
||||
:header-args:matlab+: :comments none :mkdirp yes :eval no
|
||||
:END:
|
||||
<<sec:initializeCylindricalPlatforms>>
|
||||
<<sec:initializeStewartPose>>
|
||||
|
||||
This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][here]].
|
||||
This Matlab function is accessible [[file:src/initializeStewartPose.m][here]].
|
||||
|
||||
*** Function description
|
||||
** Function description
|
||||
#+begin_src matlab
|
||||
function [stewart] = initializeCylindricalPlatforms(stewart, args)
|
||||
% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
|
||||
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] = initializeCylindricalPlatforms(args)
|
||||
% Syntax: [stewart] = initializeStewartPose(stewart, args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args - Structure with the following fields:
|
||||
% - Fpm [1x1] - Fixed Platform Mass [kg]
|
||||
% - Fph [1x1] - Fixed Platform Height [m]
|
||||
% - Fpr [1x1] - Fixed Platform Radius [m]
|
||||
% - Mpm [1x1] - Mobile Platform Mass [kg]
|
||||
% - Mph [1x1] - Mobile Platform Height [m]
|
||||
% - Mpr [1x1] - Mobile Platform Radius [m]
|
||||
% - 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:
|
||||
% - platforms [struct] - structure with the following fields:
|
||||
% - Fpm [1x1] - Fixed Platform Mass [kg]
|
||||
% - Msi [3x3] - Mobile Platform Inertia matrix [kg*m^2]
|
||||
% - Fph [1x1] - Fixed Platform Height [m]
|
||||
% - Fpr [1x1] - Fixed Platform Radius [m]
|
||||
% - Mpm [1x1] - Mobile Platform Mass [kg]
|
||||
% - Fsi [3x3] - Fixed Platform Inertia matrix [kg*m^2]
|
||||
% - Mph [1x1] - Mobile Platform Height [m]
|
||||
% - Mpr [1x1] - Mobile Platform Radius [m]
|
||||
% - 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}
|
||||
#+end_src
|
||||
|
||||
*** Optional Parameters
|
||||
** Optional Parameters
|
||||
#+begin_src matlab
|
||||
arguments
|
||||
stewart
|
||||
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
|
||||
args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
|
||||
args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
|
||||
args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
|
||||
args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
|
||||
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
|
||||
args.ARB (3,3) double {mustBeNumeric} = eye(3)
|
||||
end
|
||||
#+end_src
|
||||
|
||||
*** Create the =platforms= struct
|
||||
** Use the Inverse Kinematic function
|
||||
#+begin_src matlab
|
||||
platforms = struct();
|
||||
[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
|
||||
|
||||
platforms.Fpm = args.Fpm;
|
||||
platforms.Fph = args.Fph;
|
||||
platforms.Fpr = args.Fpr;
|
||||
platforms.Fpi = diag([1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
|
||||
1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
|
||||
1/2 * platforms.Fpm * platforms.Fpr^2]);
|
||||
|
||||
platforms.Mpm = args.Mpm;
|
||||
platforms.Mph = args.Mph;
|
||||
platforms.Mpr = args.Mpr;
|
||||
platforms.Mpi = diag([1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
|
||||
1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
|
||||
1/2 * platforms.Mpm * platforms.Mpr^2]);
|
||||
#+end_src
|
||||
|
||||
*** 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 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2019-08-26 lun. 11:56 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Stiffness of the Stewart Platform</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Thomas Dehaeze" />
|
||||
<style type="text/css">
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
.title { text-align: center;
|
||||
margin-bottom: .2em; }
|
||||
.subtitle { text-align: center;
|
||||
font-size: medium;
|
||||
font-weight: bold;
|
||||
margin-top:0; }
|
||||
.todo { font-family: monospace; color: red; }
|
||||
.done { font-family: monospace; color: green; }
|
||||
.priority { font-family: monospace; color: orange; }
|
||||
.tag { background-color: #eee; font-family: monospace;
|
||||
padding: 2px; font-size: 80%; font-weight: normal; }
|
||||
.timestamp { color: #bebebe; }
|
||||
.timestamp-kwd { color: #5f9ea0; }
|
||||
.org-right { margin-left: auto; margin-right: 0px; text-align: right; }
|
||||
.org-left { margin-left: 0px; margin-right: auto; text-align: left; }
|
||||
.org-center { margin-left: auto; margin-right: auto; text-align: center; }
|
||||
.underline { text-decoration: underline; }
|
||||
#postamble p, #preamble p { font-size: 90%; margin: .2em; }
|
||||
p.verse { margin-left: 3%; }
|
||||
pre {
|
||||
border: 1px solid #ccc;
|
||||
box-shadow: 3px 3px 3px #eee;
|
||||
padding: 8pt;
|
||||
font-family: monospace;
|
||||
overflow: auto;
|
||||
margin: 1.2em;
|
||||
}
|
||||
pre.src {
|
||||
position: relative;
|
||||
overflow: visible;
|
||||
padding-top: 1.2em;
|
||||
}
|
||||
pre.src:before {
|
||||
display: none;
|
||||
position: absolute;
|
||||
background-color: white;
|
||||
top: -10px;
|
||||
right: 10px;
|
||||
padding: 3px;
|
||||
border: 1px solid black;
|
||||
}
|
||||
pre.src:hover:before { display: inline;}
|
||||
/* Languages per Org manual */
|
||||
pre.src-asymptote:before { content: 'Asymptote'; }
|
||||
pre.src-awk:before { content: 'Awk'; }
|
||||
pre.src-C:before { content: 'C'; }
|
||||
/* pre.src-C++ doesn't work in CSS */
|
||||
pre.src-clojure:before { content: 'Clojure'; }
|
||||
pre.src-css:before { content: 'CSS'; }
|
||||
pre.src-D:before { content: 'D'; }
|
||||
pre.src-ditaa:before { content: 'ditaa'; }
|
||||
pre.src-dot:before { content: 'Graphviz'; }
|
||||
pre.src-calc:before { content: 'Emacs Calc'; }
|
||||
pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
|
||||
pre.src-fortran:before { content: 'Fortran'; }
|
||||
pre.src-gnuplot:before { content: 'gnuplot'; }
|
||||
pre.src-haskell:before { content: 'Haskell'; }
|
||||
pre.src-hledger:before { content: 'hledger'; }
|
||||
pre.src-java:before { content: 'Java'; }
|
||||
pre.src-js:before { content: 'Javascript'; }
|
||||
pre.src-latex:before { content: 'LaTeX'; }
|
||||
pre.src-ledger:before { content: 'Ledger'; }
|
||||
pre.src-lisp:before { content: 'Lisp'; }
|
||||
pre.src-lilypond:before { content: 'Lilypond'; }
|
||||
pre.src-lua:before { content: 'Lua'; }
|
||||
pre.src-matlab:before { content: 'MATLAB'; }
|
||||
pre.src-mscgen:before { content: 'Mscgen'; }
|
||||
pre.src-ocaml:before { content: 'Objective Caml'; }
|
||||
pre.src-octave:before { content: 'Octave'; }
|
||||
pre.src-org:before { content: 'Org mode'; }
|
||||
pre.src-oz:before { content: 'OZ'; }
|
||||
pre.src-plantuml:before { content: 'Plantuml'; }
|
||||
pre.src-processing:before { content: 'Processing.js'; }
|
||||
pre.src-python:before { content: 'Python'; }
|
||||
pre.src-R:before { content: 'R'; }
|
||||
pre.src-ruby:before { content: 'Ruby'; }
|
||||
pre.src-sass:before { content: 'Sass'; }
|
||||
pre.src-scheme:before { content: 'Scheme'; }
|
||||
pre.src-screen:before { content: 'Gnu Screen'; }
|
||||
pre.src-sed:before { content: 'Sed'; }
|
||||
pre.src-sh:before { content: 'shell'; }
|
||||
pre.src-sql:before { content: 'SQL'; }
|
||||
pre.src-sqlite:before { content: 'SQLite'; }
|
||||
/* additional languages in org.el's org-babel-load-languages alist */
|
||||
pre.src-forth:before { content: 'Forth'; }
|
||||
pre.src-io:before { content: 'IO'; }
|
||||
pre.src-J:before { content: 'J'; }
|
||||
pre.src-makefile:before { content: 'Makefile'; }
|
||||
pre.src-maxima:before { content: 'Maxima'; }
|
||||
pre.src-perl:before { content: 'Perl'; }
|
||||
pre.src-picolisp:before { content: 'Pico Lisp'; }
|
||||
pre.src-scala:before { content: 'Scala'; }
|
||||
pre.src-shell:before { content: 'Shell Script'; }
|
||||
pre.src-ebnf2ps:before { content: 'ebfn2ps'; }
|
||||
/* additional language identifiers per "defun org-babel-execute"
|
||||
in ob-*.el */
|
||||
pre.src-cpp:before { content: 'C++'; }
|
||||
pre.src-abc:before { content: 'ABC'; }
|
||||
pre.src-coq:before { content: 'Coq'; }
|
||||
pre.src-groovy:before { content: 'Groovy'; }
|
||||
/* additional language identifiers from org-babel-shell-names in
|
||||
ob-shell.el: ob-shell is the only babel language using a lambda to put
|
||||
the execution function name together. */
|
||||
pre.src-bash:before { content: 'bash'; }
|
||||
pre.src-csh:before { content: 'csh'; }
|
||||
pre.src-ash:before { content: 'ash'; }
|
||||
pre.src-dash:before { content: 'dash'; }
|
||||
pre.src-ksh:before { content: 'ksh'; }
|
||||
pre.src-mksh:before { content: 'mksh'; }
|
||||
pre.src-posh:before { content: 'posh'; }
|
||||
/* Additional Emacs modes also supported by the LaTeX listings package */
|
||||
pre.src-ada:before { content: 'Ada'; }
|
||||
pre.src-asm:before { content: 'Assembler'; }
|
||||
pre.src-caml:before { content: 'Caml'; }
|
||||
pre.src-delphi:before { content: 'Delphi'; }
|
||||
pre.src-html:before { content: 'HTML'; }
|
||||
pre.src-idl:before { content: 'IDL'; }
|
||||
pre.src-mercury:before { content: 'Mercury'; }
|
||||
pre.src-metapost:before { content: 'MetaPost'; }
|
||||
pre.src-modula-2:before { content: 'Modula-2'; }
|
||||
pre.src-pascal:before { content: 'Pascal'; }
|
||||
pre.src-ps:before { content: 'PostScript'; }
|
||||
pre.src-prolog:before { content: 'Prolog'; }
|
||||
pre.src-simula:before { content: 'Simula'; }
|
||||
pre.src-tcl:before { content: 'tcl'; }
|
||||
pre.src-tex:before { content: 'TeX'; }
|
||||
pre.src-plain-tex:before { content: 'Plain TeX'; }
|
||||
pre.src-verilog:before { content: 'Verilog'; }
|
||||
pre.src-vhdl:before { content: 'VHDL'; }
|
||||
pre.src-xml:before { content: 'XML'; }
|
||||
pre.src-nxml:before { content: 'XML'; }
|
||||
/* add a generic configuration mode; LaTeX export needs an additional
|
||||
(add-to-list 'org-latex-listings-langs '(conf " ")) in .emacs */
|
||||
pre.src-conf:before { content: 'Configuration File'; }
|
||||
|
||||
table { border-collapse:collapse; }
|
||||
caption.t-above { caption-side: top; }
|
||||
caption.t-bottom { caption-side: bottom; }
|
||||
td, th { vertical-align:top; }
|
||||
th.org-right { text-align: center; }
|
||||
th.org-left { text-align: center; }
|
||||
th.org-center { text-align: center; }
|
||||
td.org-right { text-align: right; }
|
||||
td.org-left { text-align: left; }
|
||||
td.org-center { text-align: center; }
|
||||
dt { font-weight: bold; }
|
||||
.footpara { display: inline; }
|
||||
.footdef { margin-bottom: 1em; }
|
||||
.figure { padding: 1em; }
|
||||
.figure p { text-align: center; }
|
||||
.equation-container {
|
||||
display: table;
|
||||
text-align: center;
|
||||
width: 100%;
|
||||
}
|
||||
.equation {
|
||||
vertical-align: middle;
|
||||
}
|
||||
.equation-label {
|
||||
display: table-cell;
|
||||
text-align: right;
|
||||
vertical-align: middle;
|
||||
}
|
||||
.inlinetask {
|
||||
padding: 10px;
|
||||
border: 2px solid gray;
|
||||
margin: 10px;
|
||||
background: #ffffcc;
|
||||
}
|
||||
#org-div-home-and-up
|
||||
{ text-align: right; font-size: 70%; white-space: nowrap; }
|
||||
textarea { overflow-x: auto; }
|
||||
.linenr { font-size: smaller }
|
||||
.code-highlighted { background-color: #ffff00; }
|
||||
.org-info-js_info-navigation { border-style: none; }
|
||||
#org-info-js_console-label
|
||||
{ font-size: 10px; font-weight: bold; white-space: nowrap; }
|
||||
.org-info-js_search-highlight
|
||||
{ background-color: #ffff00; color: #000000; font-weight: bold; }
|
||||
.org-svg { width: 90%; }
|
||||
/*]]>*/-->
|
||||
</style>
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<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
|
||||
through which recipients can access the Corresponding Source.
|
||||
|
||||
|
||||
@licend The above is the entire license notice
|
||||
for the JavaScript code in this tag.
|
||||
*/
|
||||
<!--/*--><![CDATA[/*><!--*/
|
||||
function CodeHighlightOn(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(null != target) {
|
||||
elem.cacheClassElem = elem.className;
|
||||
elem.cacheClassTarget = target.className;
|
||||
target.className = "code-highlighted";
|
||||
elem.className = "code-highlighted";
|
||||
}
|
||||
}
|
||||
function CodeHighlightOff(elem, id)
|
||||
{
|
||||
var target = document.getElementById(id);
|
||||
if(elem.cacheClassElem)
|
||||
elem.className = elem.cacheClassElem;
|
||||
if(elem.cacheClassTarget)
|
||||
target.className = elem.cacheClassTarget;
|
||||
}
|
||||
/*]]>*///-->
|
||||
</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"/>
|
||||
#+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