Stewart if configure just with one object. Use mask inside simulink.
This commit is contained in:
parent
7f50439a3d
commit
0e9a823232
46
analyze_jacobian.m
Normal file
46
analyze_jacobian.m
Normal file
@ -0,0 +1,46 @@
|
||||
figure;
|
||||
plot(d_meas.Time, d.Data-d_meas.Data)
|
||||
|
||||
%%
|
||||
figure;
|
||||
plot(error.Time, error.Data)
|
||||
legend({'x', 'y', 'z', 'theta_x', 'theta_y', 'theta_z'})
|
||||
|
||||
%%
|
||||
J = jacobian.Data(:, :, 1);
|
||||
|
||||
% Norm of the jacobian with time
|
||||
J_change = (jacobian.Data - J)./J;
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(jacobian.Time, squeeze(J_change(1, 1, :)));
|
||||
plot(jacobian.Time, squeeze(J_change(2, 2, :)));
|
||||
plot(jacobian.Time, squeeze(J_change(3, 3, :)));
|
||||
plot(jacobian.Time, squeeze(J_change(4, 4, :)));
|
||||
plot(jacobian.Time, squeeze(J_change(5, 5, :)));
|
||||
plot(jacobian.Time, squeeze(J_change(6, 6, :)));
|
||||
legend({'Jxx', 'Jyy', 'Jzz', 'Jmx', 'Jmy', 'Jmz'})
|
||||
hold off;
|
||||
|
||||
%% K change
|
||||
K_init = J'*J;
|
||||
K = zeros(size(jacobian.Data));
|
||||
|
||||
for i=1:length(jacobian.Time)
|
||||
K(:, :, i) = jacobian.Data(:, :, i)'*jacobian.Data(:, :, i);
|
||||
end
|
||||
|
||||
K_change = (permute(K, [2, 1, 3]) - K_init)./K_init;
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(jacobian.Time, squeeze(K_change(1, 1, :)));
|
||||
plot(jacobian.Time, squeeze(K_change(2, 2, :)));
|
||||
plot(jacobian.Time, squeeze(K_change(3, 3, :)));
|
||||
plot(jacobian.Time, squeeze(K_change(4, 4, :)));
|
||||
plot(jacobian.Time, squeeze(K_change(5, 5, :)));
|
||||
plot(jacobian.Time, squeeze(K_change(6, 6, :)));
|
||||
legend({'Kxx', 'Kyy', 'Kzz', 'Kmx', 'Kmy', 'Kmz'})
|
||||
hold off;
|
||||
|
80
initializeParameters.m
Normal file
80
initializeParameters.m
Normal file
@ -0,0 +1,80 @@
|
||||
function [stewart] = initializeParameters(stewart)
|
||||
%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
|
||||
stewart.pos_base = zeros(6, 3);
|
||||
stewart.pos_top = zeros(6, 3);
|
||||
|
||||
alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
|
||||
alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top
|
||||
|
||||
height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO
|
||||
|
||||
radius_b = stewart.BP.leg.rad*0.001; % rayon emplacement support base
|
||||
radius_t = stewart.TP.leg.rad*0.001; % top radius in meters
|
||||
|
||||
for i = 1:3
|
||||
% base points
|
||||
angle_m_b = (2*pi/3)* (i-1) - alpha_b;
|
||||
angle_p_b = (2*pi/3)* (i-1) + alpha_b;
|
||||
stewart.pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0];
|
||||
stewart.pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0];
|
||||
|
||||
% top points
|
||||
% Top points are 60 degrees offset
|
||||
angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
|
||||
angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
|
||||
stewart.pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
|
||||
stewart.pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];
|
||||
end
|
||||
|
||||
% permute pos_top points so that legs are end points of base and top points
|
||||
stewart.pos_top = [stewart.pos_top(6,:); stewart.pos_top(1:5,:)]; %6th point on top connects to 1st on bottom
|
||||
stewart.pos_top_tranform = stewart.pos_top - height*[zeros(6, 2),ones(6, 1)];
|
||||
|
||||
%% leg vectors
|
||||
legs = stewart.pos_top - stewart.pos_base;
|
||||
leg_length = zeros(6, 1);
|
||||
leg_vectors = zeros(6, 3);
|
||||
for i = 1:6
|
||||
leg_length(i) = norm(legs(i,:));
|
||||
leg_vectors(i,:) = legs(i,:) / leg_length(i);
|
||||
end
|
||||
|
||||
stewart.Leg.lenght = 1000*leg_length(1)/1.5;
|
||||
stewart.Leg.shape.bot = [0 0; ...
|
||||
stewart.Leg.rad.bottom 0; ...
|
||||
stewart.Leg.rad.bottom stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
|
||||
0 0.2*stewart.Leg.lenght];
|
||||
|
||||
%% Calculate revolute and cylindrical axes
|
||||
rev1 = zeros(6, 3);
|
||||
rev2 = zeros(6, 3);
|
||||
cyl1 = zeros(6, 3);
|
||||
for i = 1:6
|
||||
rev1(i,:) = cross(leg_vectors(i,:), [0 0 1]);
|
||||
rev1(i,:) = rev1(i,:) / norm(rev1(i,:));
|
||||
|
||||
rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:));
|
||||
rev2(i,:) = rev2(i,:) / norm(rev2(i,:));
|
||||
|
||||
cyl1(i,:) = leg_vectors(i,:);
|
||||
end
|
||||
|
||||
|
||||
%% Coordinate systems
|
||||
stewart.lower_leg = struct('rotation', eye(3));
|
||||
stewart.upper_leg = struct('rotation', eye(3));
|
||||
|
||||
for i = 1:6
|
||||
stewart.lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
|
||||
stewart.upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
|
||||
end
|
||||
|
||||
%% Position Matrix
|
||||
stewart.M_pos_base = stewart.pos_base + (height+(stewart.TP.thickness+stewart.Leg.sphere.top+stewart.SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
|
||||
|
||||
%% Compute Jacobian Matrix
|
||||
aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
|
||||
stewart.J = getJacobianMatrix(leg_vectors', aa');
|
||||
end
|
93
params_micro_hexapod.m
Normal file
93
params_micro_hexapod.m
Normal file
@ -0,0 +1,93 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%% Stewart Object
|
||||
stewart = struct();
|
||||
stewart.h = 350; % Total height of the platform [mm]
|
||||
stewart.jacobian = 0; % Point where the Jacobian is computed => Center of rotation [mm]
|
||||
|
||||
%% Bottom Plate
|
||||
BP = struct();
|
||||
|
||||
BP.rad.int = 110; % Internal Radius [mm]
|
||||
BP.rad.ext = 207.5; % External Radius [mm]
|
||||
BP.thickness = 26; % Thickness [mm]
|
||||
BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm]
|
||||
BP.leg.ang = 9.5; % Angle Offset [deg]
|
||||
BP.density = 8000; % Density of the material [kg/m^3]
|
||||
BP.color = [0.6 0.6 0.6]; % Color [rgb]
|
||||
BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
|
||||
|
||||
%% Top Plate
|
||||
TP = struct();
|
||||
|
||||
TP.rad.int = 82; % Internal Radius [mm]
|
||||
TP.rad.ext = 150; % Internal Radius [mm]
|
||||
TP.thickness = 26; % Thickness [mm]
|
||||
TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm]
|
||||
TP.leg.ang = 12.1; % Angle Offset [deg]
|
||||
TP.density = 8000; % Density of the material [kg/m^3]
|
||||
TP.color = [0.6 0.6 0.6]; % Color [rgb]
|
||||
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
|
||||
|
||||
%% Leg
|
||||
Leg = struct();
|
||||
|
||||
Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
|
||||
Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
|
||||
Leg.ksi.ax = 10; % Maximum amplification at resonance []
|
||||
Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
|
||||
Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
|
||||
Leg.density = 8000; % Density of the material [kg/m^3]
|
||||
Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
|
||||
Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
|
||||
|
||||
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
|
||||
Leg = updateDamping(Leg);
|
||||
|
||||
|
||||
%% Sphere
|
||||
SP = struct();
|
||||
|
||||
SP.height.bottom = 27; % [mm]
|
||||
SP.height.top = 27; % [mm]
|
||||
SP.density.bottom = 8000; % [kg/m^3]
|
||||
SP.density.top = 8000; % [kg/m^3]
|
||||
SP.color.bottom = [0.6 0.6 0.6]; % [rgb]
|
||||
SP.color.top = [0.6 0.6 0.6]; % [rgb]
|
||||
SP.k.ax = 0; % [N*m/deg]
|
||||
SP.ksi.ax = 10;
|
||||
|
||||
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
|
||||
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
|
||||
SP.rad.bottom = Leg.sphere.bottom; % [mm]
|
||||
SP.rad.top = Leg.sphere.top; % [mm]
|
||||
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
|
||||
|
||||
SP = updateDamping(SP);
|
||||
|
||||
%%
|
||||
Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
|
||||
Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
|
||||
|
||||
%%
|
||||
stewart.BP = BP;
|
||||
stewart.TP = TP;
|
||||
stewart.Leg = Leg;
|
||||
stewart.SP = SP;
|
||||
|
||||
%%
|
||||
stewart = initializeParameters(stewart);
|
||||
|
||||
%%
|
||||
clear BP TP Leg SP;
|
||||
|
||||
%%
|
||||
function element = updateDamping(element)
|
||||
field = fieldnames(element.k);
|
||||
for i = 1:length(field)
|
||||
element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
|
||||
end
|
||||
end
|
93
params_nano_hexapod.m
Normal file
93
params_nano_hexapod.m
Normal file
@ -0,0 +1,93 @@
|
||||
%%
|
||||
clear; close all; clc;
|
||||
|
||||
%% Stewart Object
|
||||
stewart = struct();
|
||||
stewart.h = 90; % Total height of the platform [mm]
|
||||
stewart.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm]
|
||||
|
||||
%% Bottom Plate
|
||||
BP = struct();
|
||||
|
||||
BP.rad.int = 0; % Internal Radius [mm]
|
||||
BP.rad.ext = 150; % External Radius [mm]
|
||||
BP.thickness = 10; % Thickness [mm]
|
||||
BP.leg.rad = 100; % Radius where the legs articulations are positionned [mm]
|
||||
BP.leg.ang = 5; % Angle Offset [deg]
|
||||
BP.density = 8000; % Density of the material [kg/m^3]
|
||||
BP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
|
||||
|
||||
%% Top Plate
|
||||
TP = struct();
|
||||
|
||||
TP.rad.int = 0; % Internal Radius [mm]
|
||||
TP.rad.ext = 100; % Internal Radius [mm]
|
||||
TP.thickness = 10; % Thickness [mm]
|
||||
TP.leg.rad = 90; % Radius where the legs articulations are positionned [mm]
|
||||
TP.leg.ang = 5; % Angle Offset [deg]
|
||||
TP.density = 8000; % Density of the material [kg/m^3]
|
||||
TP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
|
||||
|
||||
%% Leg
|
||||
Leg = struct();
|
||||
|
||||
Leg.stroke = 80e-6; % Maximum Stroke of each leg [m]
|
||||
Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
|
||||
Leg.ksi.ax = 10; % Maximum amplification at resonance []
|
||||
Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
|
||||
Leg.rad.top = 10; % Radius of the cylinder of the top part [mm]
|
||||
Leg.density = 8000; % Density of the material [kg/m^3]
|
||||
Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
|
||||
Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
|
||||
|
||||
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
|
||||
Leg = updateDamping(Leg);
|
||||
|
||||
|
||||
%% Sphere
|
||||
SP = struct();
|
||||
|
||||
SP.height.bottom = 15; % [mm]
|
||||
SP.height.top = 15; % [mm]
|
||||
SP.density.bottom = 8000; % [kg/m^3]
|
||||
SP.density.top = 8000; % [kg/m^3]
|
||||
SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.color.top = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.k.ax = 0; % [N*m/deg]
|
||||
SP.ksi.ax = 10;
|
||||
|
||||
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
|
||||
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
|
||||
SP.rad.bottom = Leg.sphere.bottom; % [mm]
|
||||
SP.rad.top = Leg.sphere.top; % [mm]
|
||||
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
|
||||
|
||||
SP = updateDamping(SP);
|
||||
|
||||
%%
|
||||
Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
|
||||
Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
|
||||
|
||||
%%
|
||||
stewart.BP = BP;
|
||||
stewart.TP = TP;
|
||||
stewart.Leg = Leg;
|
||||
stewart.SP = SP;
|
||||
|
||||
%%
|
||||
stewart = initializeParameters(stewart);
|
||||
|
||||
%%
|
||||
clear BP TP Leg SP;
|
||||
|
||||
%%
|
||||
function element = updateDamping(element)
|
||||
field = fieldnames(element.k);
|
||||
for i = 1:length(field)
|
||||
element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
|
||||
end
|
||||
end
|
BIN
stewart_displacement.slx
Normal file
BIN
stewart_displacement.slx
Normal file
Binary file not shown.
BIN
stewart_without_sensing.slx
Normal file
BIN
stewart_without_sensing.slx
Normal file
Binary file not shown.
Loading…
Reference in New Issue
Block a user