initializeFramesPositions: Initialize the positions of frames {A}, {B}, {F} and {M}
+initializeFramesPositions: Initialize the positions of frames {A}, {B}, {F} and {M}
generateGeneralConfiguration: Generate a Very General Configuration
+generateGeneralConfiguration: Generate a Very General Configuration
computeJointsPose: Compute the Pose of the Joints
+computeJointsPose: Compute the Pose of the Joints
initializeStewartPose: Determine the initial stroke in each leg to have the wanted pose
+initializeStewartPose: Determine the initial stroke in each leg to have the wanted pose
initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms
+initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms
initializeCylindricalStruts: Define the inertia of cylindrical struts
+initializeCylindricalStruts: Define the inertia of cylindrical struts
initializeStrutDynamics: Add Stiffness and Damping properties of each strut
+initializeStrutDynamics: Add Stiffness and Damping properties of each strut
initializeJointDynamics: Add Stiffness and Damping properties for spherical joints
+initializeJointDynamics: Add Stiffness and Damping properties for spherical joints
displayArchitecture: 3D plot of the Stewart platform architecture
+displayArchitecture: 3D plot of the Stewart platform architecture
stewart.FRa = zeros(3,3,6); stewart.MRb = zeros(3,3,6); @@ -1077,11 +1077,11 @@ stewart.MRb = zeros(3,3,6);
initializeStewartPose: Determine the initial stroke in each leg to have the wanted poseinitializeStewartPose: Determine the initial stroke in each leg to have the wanted pose@@ -1089,9 +1089,9 @@ This Matlab function is accessible here
function [stewart] = initializeStewartPose(stewart, args) % initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose @@ -1115,9 +1115,9 @@ This Matlab function is accessible here
arguments
stewart
@@ -1129,9 +1129,9 @@ This Matlab function is accessible here
[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB); @@ -1142,11 +1142,11 @@ stewart.dLi = dLi;
initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile PlatformsinitializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms
@@ -1154,9 +1154,9 @@ This Matlab function is accessible
-
@@ -1253,9 +1253,9 @@ This Matlab function is accessible h
@@ -1352,9 +1352,9 @@ This Matlab function is accessible here<
@@ -1413,9 +1413,9 @@ This Matlab function is accessible here<
@@ -1501,9 +1501,9 @@ This Matlab function is accessible here.
The reference frame of the 3d plot corresponds to the frame \(\{F\}\).
Let’s first plot the frame \(\{F\}\).
Plot the frame \(\{M\}\).
Plot the legs connecting the joints of the fixed base to the joints of the mobile platform.
Created: 2020-02-07 ven. 17:11 Created: 2020-02-07 ven. 17:18Function description
-Function description
+function [stewart] = initializeCylindricalPlatforms(stewart, args)
% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
@@ -1188,9 +1188,9 @@ This Matlab function is accessible
-
Optional Parameters
-Optional Parameters
+arguments
stewart
@@ -1206,9 +1206,9 @@ This Matlab function is accessible
-Create the
-platforms structCreate the
+platforms structplatforms = struct();
@@ -1230,9 +1230,9 @@ platforms.Mpi = diag([1/12
Save the
-platforms structSave the
+platforms structstewart.platforms = platforms;
@@ -1241,11 +1241,11 @@ platforms.Mpi = diag([1/12
5.6
+initializeCylindricalStruts: Define the inertia of cylindrical struts5.6
initializeCylindricalStruts: Define the inertia of cylindrical strutsFunction description
-Function description
+function [stewart] = initializeCylindricalStruts(stewart, args)
% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
@@ -1287,9 +1287,9 @@ This Matlab function is accessible h
Optional Parameters
-Optional Parameters
+arguments
stewart
@@ -1305,9 +1305,9 @@ This Matlab function is accessible h
Create the
-struts structureCreate the
+struts structurestruts = struct();
@@ -1340,11 +1340,11 @@ struts.Msi = zeros(3, 3, 6);
5.7
+initializeStrutDynamics: Add Stiffness and Damping properties of each strut5.7
initializeStrutDynamics: Add Stiffness and Damping properties of each strutFunction description
-Function description
+function [stewart] = initializeStrutDynamics(stewart, args)
% initializeStrutDynamics - Add Stiffness and Damping properties of each strut
@@ -1375,9 +1375,9 @@ This Matlab function is accessible here<
Optional Parameters
-Optional Parameters
+arguments
stewart
@@ -1389,9 +1389,9 @@ This Matlab function is accessible here<
Add Stiffness and Damping properties of each strut
-Add Stiffness and Damping properties of each strut
+stewart.Ki = args.Ki;
stewart.Ci = args.Ci;
@@ -1401,11 +1401,11 @@ stewart.Ci = args.Ci;
5.8
+initializeJointDynamics: Add Stiffness and Damping properties for spherical joints5.8
initializeJointDynamics: Add Stiffness and Damping properties for spherical jointsFunction description
-Function description
+function [stewart] = initializeJointDynamics(stewart, args)
% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
@@ -1445,9 +1445,9 @@ This Matlab function is accessible here<
Optional Parameters
-Optional Parameters
+arguments
stewart
@@ -1464,9 +1464,9 @@ This Matlab function is accessible here<
Add Stiffness and Damping properties of each strut
-Add Stiffness and Damping properties of each strut
+if args.disable
stewart.Ksbi = zeros(6,1);
@@ -1489,11 +1489,11 @@ This Matlab function is accessible here<
5.9
+displayArchitecture: 3D plot of the Stewart platform architecture5.9
displayArchitecture: 3D plot of the Stewart platform architectureFunction description
-Function description
+function [] = displayArchitecture(stewart, args)
% displayArchitecture - 3D plot of the Stewart platform architecture
@@ -1516,6 +1516,9 @@ This Matlab function is accessible here.
% - 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}
% - ARB [3x3] - The rotation matrix that gives the wanted orientation of {B} with respect to {A}
+% - F_color [color] - Color used for the Fixed elements
+% - M_color [color] - Color used for the Mobile elements
+% - L_color [color] - Color used for the Legs elements
% - frames [true/false] - Display the Frames
% - legs [true/false] - Display the Legs
% - joints [true/false] - Display the Joints
@@ -1528,14 +1531,17 @@ This Matlab function is accessible here.
Optional Parameters
-Optional Parameters
+arguments
stewart
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
args.ARB (3,3) double {mustBeNumeric} = eye(3)
+ args.F_color = [0 0.4470 0.7410]
+ args.M_color = [0.8500 0.3250 0.0980]
+ args.L_color = [0 0 0]
args.frames logical {mustBeNumericOrLogical} = true
args.legs logical {mustBeNumericOrLogical} = true
args.joints logical {mustBeNumericOrLogical} = true
@@ -1547,9 +1553,9 @@ This Matlab function is accessible here.
Figure Creation, Frames and Homogeneous transformations
-Figure Creation, Frames and Homogeneous transformations
+Fixed Base elements
-Fixed Base elements
+Ff = [0, 0, 0];
if args.frames
quiver3(Ff(1)*ones(1,3), Ff(2)*ones(1,3), Ff(3)*ones(1,3), ...
- [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', [0 0.4470 0.7410])
+ [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
if args.labels
text(Ff(1) + d_label, ...
Ff(2) + d_label, ...
- Ff(3) + d_label, '$\{F\}$', 'Color', [0 0.4470 0.7410]);
+ Ff(3) + d_label, '$\{F\}$', 'Color', args.F_color);
end
end
@@ -1621,12 +1627,12 @@ Now plot the frame \(\{A\}\) fixed to the Base.
if args.frames
quiver3(Fa(1)*ones(1,3), Fa(2)*ones(1,3), Fa(3)*ones(1,3), ...
- [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', [0 0.4470 0.7410])
+ [d_unit_vector 0 0], [0 d_unit_vector 0], [0 0 d_unit_vector], '-', 'Color', args.F_color)
if args.labels
text(Fa(1) + d_label, ...
Fa(2) + d_label, ...
- Fa(3) + d_label, '$\{A\}$', 'Color', [0 0.4470 0.7410]);
+ Fa(3) + d_label, '$\{A\}$', 'Color', args.F_color);
end
end
@@ -1646,7 +1652,7 @@ Let’s then plot the circle corresponding to the shape of the Fixed base.
plot3(points(1,:), ...
points(2,:), ...
- points(3,:), '-', 'Color', [0 0.4470 0.7410]);
+ points(3,:), '-', 'Color', args.F_color);
end
if args.joints
scatter3(stewart.Fa(1,:), ...
stewart.Fa(2,:), ...
- stewart.Fa(3,:), 'MarkerEdgeColor', [0 0.4470 0.7410]);
+ stewart.Fa(3,:), 'MarkerEdgeColor', args.F_color);
if args.labels
for i = 1:size(stewart.Fa,2)
text(stewart.Fa(1,i) + d_label, ...
stewart.Fa(2,i), ...
- stewart.Fa(3,i), sprintf('$a_{%i}$', i), 'Color', [0 0.4470 0.7410]);
+ stewart.Fa(3,i), sprintf('$a_{%i}$', i), 'Color', args.F_color);
end
end
end
@@ -1672,9 +1678,9 @@ Let’s now plot the position and labels of the Fixed Joints
Mobile Platform elements
-Mobile Platform elements
+Legs
-Legs
+5.9.1 Figure parameters
+5.9.1 Figure parameters
view([1 -0.6 0.4]);
@@ -1806,7 +1812,7 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil