Add flex angle meas. + est. of required angle
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@ -424,7 +424,7 @@ Let's first generate all the possible combination of maximum translation and rot
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#+end_src
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#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
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data2orgtable(Ps, {}, {'*Tx [m]*', '*Ty [m]*', '*Tz [m]*', '*Rx [rad]*', '*Ry [rad]*', '*Rz [rad]*'}, ' %.1e ');
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data2orgtable(Ps, {}, {'*Tx [m]*', '*Ty [m]*', '*Tz [m]*', '*Rx [rad]*', '*Ry [rad]*', '*Rz [rad]*'}, ' %.1e ');
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#+end_src
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#+RESULTS:
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@ -615,7 +615,6 @@ using this function https://fr.mathworks.com/help/matlab/ref/contour3.html
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* Estimation of the Joint required Stroke
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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@ -629,37 +628,62 @@ using this function https://fr.mathworks.com/help/matlab/ref/contour3.html
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simulinkproject('../');
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#+end_src
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** Example of the initialization of a Stewart Platform
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** Estimation with an analytical model
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Let's first define the Stewart Platform Geometry.
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 150e-3);
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = computeJointsPose(stewart, 'AP', [0; 0; 0]);
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As_init = stewart.geometry.As;
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#+end_src
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#+begin_src matlab
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Tx_max = 50e-6; % Translation [m]
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Ty_max = 50e-6; % Translation [m]
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Tz_max = 50e-6; % Translation [m]
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Tx_max = 60e-6; % Translation [m]
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Ty_max = 60e-6; % Translation [m]
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Tz_max = 60e-6; % Translation [m]
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Rx_max = 30e-6; % Rotation [rad]
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Ry_max = 30e-6; % Rotation [rad]
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Rz_max = 0; % Rotation [rad]
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#+end_src
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#+begin_src matlab
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Ps = [2*(dec2bin(0:3^2-2,3)-'0')-1].*[Tx_max Ty_max Tz_max];
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Ps = [2*(dec2bin(0:5^2-1,5)-'0')-1, zeros(5^2, 1)].*[Tx_max Ty_max Tz_max Rx_max Ry_max Rz_max];
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#+end_src
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#+begin_src matlab
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flex_ang = zeros(size(Ps, 1), 6);
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Rxs = zeros(size(Ps, 1), 6)
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Rys = zeros(size(Ps, 1), 6)
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Rzs = zeros(size(Ps, 1), 6)
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for Ps_i = 1:size(Ps, 1)
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stewart.geometry.FO_M = [0; 0; 90e-3] + Ps(Ps_i, :)';
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Rx = [1 0 0;
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0 cos(Ps(Ps_i, 4)) -sin(Ps(Ps_i, 4));
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0 sin(Ps(Ps_i, 4)) cos(Ps(Ps_i, 4))];
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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Ry = [ cos(Ps(Ps_i, 5)) 0 sin(Ps(Ps_i, 5));
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0 1 0;
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-sin(Ps(Ps_i, 5)) 0 cos(Ps(Ps_i, 5))];
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Rz = [cos(Ps(Ps_i, 6)) -sin(Ps(Ps_i, 6)) 0;
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sin(Ps(Ps_i, 6)) cos(Ps(Ps_i, 6)) 0;
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0 0 1];
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ARB = Rz*Ry*Rx;
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stewart = computeJointsPose(stewart, 'AP', Ps(Ps_i, 1:3)', 'ARB', ARB);
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flex_ang(Ps_i, :) = acos(sum(As_init.*stewart.geometry.As));
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for l_i = 1:6
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MRf = stewart.platform_M.MRb(:,:,l_i)*(ARB')*(stewart.platform_F.FRa(:,:,l_i)');
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Rys(Ps_i, l_i) = atan2(MRf(1,3), sqrt(MRf(1,1)^2 + MRf(2,2)^2));
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Rxs(Ps_i, l_i) = atan2(-MRf(2,3)/cos(Rys(Ps_i, l_i)), MRf(3,3)/cos(Rys(Ps_i, l_i)));
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Rzs(Ps_i, l_i) = atan2(-MRf(1,2)/cos(Rys(Ps_i, l_i)), MRf(1,1)/cos(Rys(Ps_i, l_i)));
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end
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end
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#+end_src
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@ -669,7 +693,126 @@ And the maximum bending of the flexible joints is: (in [mrad])
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#+end_src
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#+RESULTS:
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: 0.90937
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: 1.1704
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#+begin_src matlab :results replace value
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1e3*max(max(sqrt(Rxs.^2 + Rys.^2)))
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#+end_src
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#+RESULTS:
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: 0.075063
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#+begin_src matlab :results replace value
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1e3*max(max(Rzs))
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#+end_src
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#+RESULTS:
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: 0.04666
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** Estimation using the Simscape Model
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*** Model Init
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#+begin_src matlab
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open('stewart_platform_model.slx')
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#+end_src
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart);
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stewart = initializeJointDynamics(stewart, 'type_F', 'universal_p', 'type_M', 'spherical_p');
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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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stewart = initializeInertialSensor(stewart, 'type', 'accelerometer', 'freq', 5e3);
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#+end_src
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#+begin_src matlab
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ground = initializeGround('type', 'rigid');
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payload = initializePayload('type', 'none');
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controller = initializeController('type', 'open-loop');
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disturbances = initializeDisturbances();
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references = initializeReferences(stewart);
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#+end_src
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*** Controller design to be close to the wanted displacement
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#+begin_src matlab
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%% Name of the Simulink File
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mdl = 'stewart_platform_model';
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%% Input/Output definition
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clear io; io_i = 1;
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io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Force Inputs [N]
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io(io_i) = linio([mdl, '/Stewart Platform'], 1, 'openoutput', [], 'dLm'); io_i = io_i + 1; % Relative Displacement Outputs [m]
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%% Run the linearization
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G = linearize(mdl, io);
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G.InputName = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
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G.OutputName = {'L1', 'L2', 'L3', 'L4', 'L5', 'L6'};
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#+end_src
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#+begin_src matlab
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wc = 2*pi*30;
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Kl = diag(1./diag(abs(freqresp(G, wc)))) * wc/s * 1/(1 + s/3/wc);
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#+end_src
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#+begin_src matlab
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controller = initializeController('type', 'ref-track-L');
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#+end_src
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*** Simulations
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#+begin_src matlab
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Tx_max = 60e-6; % Translation [m]
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Ty_max = 60e-6; % Translation [m]
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Tz_max = 60e-6; % Translation [m]
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Rx_max = 30e-6; % Rotation [rad]
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Ry_max = 30e-6; % Rotation [rad]
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Rz_max = 0; % Rotation [rad]
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#+end_src
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#+begin_src matlab
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Ps = [2*(dec2bin(0:5^2-1,5)-'0')-1, zeros(5^2, 1)].*[Tx_max Ty_max Tz_max Rx_max Ry_max Rz_max];
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#+end_src
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#+begin_src matlab
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cl_perf = zeros(size(Ps, 1), 1); % Closed loop performance [percentage]
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Rs = zeros(size(Ps, 1), 5); % Max Flexor angles for the 6 legs [mrad]
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for Ps_i = 1:size(Ps, 1)
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fprintf('Experiment %i over %i', Ps_i, size(Ps, 1));
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references = initializeReferences(stewart, 't', 0, 'r', Ps(Ps_i, :)');
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set_param('stewart_platform_model','StopTime','0.1');
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sim('stewart_platform_model');
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cl_perf(Ps_i) = 100*max(abs((simout.y.dLm.Data(end, :) - references.rL.Data(:,1,1)')./simout.y.dLm.Data(end, :)));
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Rs(Ps_i, :) = [max(abs(1e3*simout.y.Rf.Data(end, 1:2:end))), max(abs(1e3*simout.y.Rf.Data(end, 2:2:end))), max(abs(1e3*simout.y.Rm.Data(end, 1:3:end))), max(abs(1e3*simout.y.Rm.Data(end, 2:3:end))), max(abs(1e3*simout.y.Rm.Data(end, 3:3:end)))]';
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end
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#+end_src
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Verify that the simulations are all correct:
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#+begin_src matlab :results replace value
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max(cl_perf)
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#+end_src
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#+RESULTS:
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: 8.1147
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*** Results
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#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
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data2orgtable(max(Rs)', {'Rx bot', 'Ry bot', 'Rx top', 'Ry top', 'Rz top'}, {'Stroke [mrad]'}, ' %.2f ');
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#+end_src
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#+RESULTS:
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| | Stroke [mrad] |
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|--------+---------------|
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| Rx bot | 1.03 |
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| Ry bot | 0.93 |
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| Rx top | 1.06 |
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| Ry top | 0.95 |
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| Rz top | 0.03 |
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* Functions
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<<sec:functions>>
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@ -632,10 +632,10 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]].
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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function [stewart] = computeJointsPose(stewart)
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function [stewart] = computeJointsPose(stewart, args)
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% computeJointsPose -
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%
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% Syntax: [stewart] = computeJointsPose(stewart)
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% Syntax: [stewart] = computeJointsPose(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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@ -644,6 +644,9 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]].
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% - platform_F.FO_A [3x1] - Position of {A} with respect to {F}
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% - platform_M.MO_B [3x1] - Position of {B} with respect to {M}
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% - geometry.FO_M [3x1] - Position of {M} with respect to {F}
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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 - A structure with the following added fields
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@ -660,6 +663,18 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]].
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% - platform_M.MRb [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the top of the i'th strut from {M}
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#+end_src
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*** Optional Parameters
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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arguments
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stewart
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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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*** Check the =stewart= structure elements
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:PROPERTIES:
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:UNNUMBERED: t
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@ -688,11 +703,20 @@ This Matlab function is accessible [[file:../src/computeJointsPose.m][here]].
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#+begin_src matlab
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Aa = Fa - repmat(FO_A, [1, 6]);
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Bb = Mb - repmat(MO_B, [1, 6]);
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#+end_src
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Original:
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#+begin_src matlab
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Ab = Bb - repmat(-MO_B-FO_M+FO_A, [1, 6]);
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Ba = Aa - repmat( MO_B+FO_M-FO_A, [1, 6]);
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#+end_src
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Translation & Rotation: (Rotation and then translation)
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#+begin_src matlab
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Ab = args.ARB *Bb - repmat(-args.AP, [1, 6]);
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Ba = args.ARB'*Aa - repmat( args.AP, [1, 6]);
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#+end_src
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*** Compute the strut length and orientation
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:PROPERTIES:
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:UNNUMBERED: t
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Binary file not shown.
Binary file not shown.
@ -1,7 +1,7 @@
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function [stewart] = computeJointsPose(stewart)
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function [stewart] = computeJointsPose(stewart, args)
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% computeJointsPose -
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%
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% Syntax: [stewart] = computeJointsPose(stewart)
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% Syntax: [stewart] = computeJointsPose(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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@ -10,6 +10,9 @@ function [stewart] = computeJointsPose(stewart)
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% - platform_F.FO_A [3x1] - Position of {A} with respect to {F}
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% - platform_M.MO_B [3x1] - Position of {B} with respect to {M}
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% - geometry.FO_M [3x1] - Position of {M} with respect to {F}
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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 - A structure with the following added fields
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@ -25,6 +28,12 @@ function [stewart] = computeJointsPose(stewart)
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% - platform_F.FRa [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the bottom of the i'th strut from {F}
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% - platform_M.MRb [3x3x6] - The i'th 3x3 array is the rotation matrix to orientate the top of the i'th strut from {M}
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arguments
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stewart
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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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assert(isfield(stewart.platform_F, 'Fa'), 'stewart.platform_F should have attribute Fa')
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Fa = stewart.platform_F.Fa;
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@ -46,6 +55,9 @@ Bb = Mb - repmat(MO_B, [1, 6]);
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Ab = Bb - repmat(-MO_B-FO_M+FO_A, [1, 6]);
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Ba = Aa - repmat( MO_B+FO_M-FO_A, [1, 6]);
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Ab = args.ARB *(Bb - repmat(-args.AP, [1, 6]));
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Ba = args.ARB'*(Aa - repmat( args.AP, [1, 6]));
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As = (Ab - Aa)./vecnorm(Ab - Aa); % As_i is the i'th vector of As
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l = vecnorm(Ab - Aa)';
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