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<title>Kinematic Study of the Stewart Platform</title>
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<a accesskey="h" href="./index.html"> UP </a>
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<a accesskey="H" href="./index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Kinematic Study of the Stewart Platform</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#org2e1bd58">1. Needed Actuator Stroke</a>
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<li><a href="#org4a99119">1. Needed Actuator Stroke</a>
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<ul>
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<li><a href="#org16d1370">1.1. Stewart architecture definition</a></li>
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<li><a href="#orgaf07b82">1.2. Wanted translations and rotations</a></li>
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<li><a href="#org920b62b">1.3. Needed stroke for "pure" rotations or translations</a></li>
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<li><a href="#org27bf97e">1.4. Needed stroke for combined translations and rotations</a></li>
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<li><a href="#org119868f">1.1. Stewart architecture definition</a></li>
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<li><a href="#org8ece9f1">1.2. Wanted translations and rotations</a></li>
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<li><a href="#org8cd9dfc">1.3. Needed stroke for "pure" rotations or translations</a></li>
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<li><a href="#org9acbff2">1.4. Needed stroke for combined translations and rotations</a></li>
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</ul>
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</li>
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<li><a href="#orgaebf111">2. Maximum Stroke</a></li>
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<li><a href="#orgfb8a1e7">3. Functions</a>
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<li><a href="#org0aef174">2. Maximum Stroke</a></li>
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<li><a href="#orgff4f3e2">3. Functions</a>
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<ul>
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<li><a href="#org465746a">3.1. getMaxPositions</a></li>
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<li><a href="#org527f7ca">3.2. getMaxPureDisplacement</a></li>
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<li><a href="#orgca8f528">3.1. getMaxPositions</a></li>
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<li><a href="#org0ac04ca">3.2. getMaxPureDisplacement</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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<div id="outline-container-org2e1bd58" class="outline-2">
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<h2 id="org2e1bd58"><span class="section-number-2">1</span> Needed Actuator Stroke</h2>
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<div id="outline-container-org4a99119" class="outline-2">
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<h2 id="org4a99119"><span class="section-number-2">1</span> Needed Actuator Stroke</h2>
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<div class="outline-text-2" id="text-1">
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<p>
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The goal is to determine the needed stroke of the actuators to obtain wanted translations and rotations.
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</p>
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</div>
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<div id="outline-container-org16d1370" class="outline-3">
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<h3 id="org16d1370"><span class="section-number-3">1.1</span> Stewart architecture definition</h3>
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<div id="outline-container-org119868f" class="outline-3">
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<h3 id="org119868f"><span class="section-number-3">1.1</span> Stewart architecture definition</h3>
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<div class="outline-text-3" id="text-1-1">
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<p>
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We use a cubic architecture.
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">opts = struct<span style="color: #DCDCCC;">(</span><span style="text-decoration: underline;">...</span>
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<span style="color: #CC9393;">'H_tot'</span>, <span style="color: #BFEBBF;">90</span>, <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Total height of the Hexapod [mm]</span>
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<span style="color: #CC9393;">'L'</span>, <span style="color: #BFEBBF;">180</span><span style="color: #7CB8BB;">/</span>sqrt<span style="color: #BFEBBF;">(</span><span style="color: #BFEBBF;">3</span><span style="color: #BFEBBF;">)</span>, <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Size of the Cube [mm]</span>
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<span style="color: #CC9393;">'H'</span>, <span style="color: #BFEBBF;">60</span>, <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Height between base joints and platform joints [mm]</span>
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<span style="color: #CC9393;">'H0'</span>, <span style="color: #BFEBBF;">180</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">2</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">60</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">2</span> <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Height between the corner of the cube and the plane containing the base joints [mm]</span>
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<span style="color: #DCDCCC;">)</span>;
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stewart = initializeCubicConfiguration<span style="color: #DCDCCC;">(</span>opts<span style="color: #DCDCCC;">)</span>;
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opts = struct<span style="color: #DCDCCC;">(</span><span style="text-decoration: underline;">...</span>
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<span style="color: #CC9393;">'Jd_pos'</span>, <span style="color: #BFEBBF;">[</span><span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">100</span><span style="color: #BFEBBF;">]</span>, <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Position of the Jacobian for displacement estimation from the top of the mobile platform [mm]</span>
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<span style="color: #CC9393;">'Jf_pos'</span>, <span style="color: #BFEBBF;">[</span><span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">0</span>, <span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">50</span><span style="color: #BFEBBF;">]</span> <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Position of the Jacobian for force location from the top of the mobile platform [mm]</span>
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<span style="color: #DCDCCC;">)</span>;
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stewart = computeGeometricalProperties<span style="color: #DCDCCC;">(</span>stewart, opts<span style="color: #DCDCCC;">)</span>;
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opts = struct<span style="color: #DCDCCC;">(</span><span style="text-decoration: underline;">...</span>
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<span style="color: #CC9393;">'stroke'</span>, <span style="color: #BFEBBF;">50e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">6</span> <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Maximum stroke of each actuator [m]</span>
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<span style="color: #DCDCCC;">)</span>;
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||||
stewart = initializeMechanicalElements<span style="color: #DCDCCC;">(</span>stewart, opts<span style="color: #DCDCCC;">)</span>;
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<pre class="src src-matlab">opts = struct<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-underline">...</span>
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<span class="org-string">'H_tot'</span>, <span class="org-highlight-numbers-number">90</span>, <span class="org-underline">...</span> <span class="org-comment">% Total height of the Hexapod [mm]</span>
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||||
<span class="org-string">'L'</span>, <span class="org-highlight-numbers-number">200</span><span class="org-type">/</span>sqrt<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-underline">...</span> <span class="org-comment">% Size of the Cube [mm]</span>
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||||
<span class="org-string">'H'</span>, <span class="org-highlight-numbers-number">60</span>, <span class="org-underline">...</span> <span class="org-comment">% Height between base joints and platform joints [mm]</span>
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||||
<span class="org-string">'H0'</span>, <span class="org-highlight-numbers-number">200</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">-</span><span class="org-highlight-numbers-number">60</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span> <span class="org-underline">...</span> <span class="org-comment">% Height between the corner of the cube and the plane containing the base joints [mm]</span>
|
||||
<span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
stewart = initializeCubicConfiguration<span class="org-rainbow-delimiters-depth-1">(</span>opts<span class="org-rainbow-delimiters-depth-1">)</span>;
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opts = struct<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-underline">...</span>
|
||||
<span class="org-string">'Jd_pos'</span>, <span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-underline">...</span> <span class="org-comment">% Position of the Jacobian for displacement estimation from the top of the mobile platform [mm]</span>
|
||||
<span class="org-string">'Jf_pos'</span>, <span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-type">-</span><span class="org-highlight-numbers-number">50</span><span class="org-rainbow-delimiters-depth-2">]</span> <span class="org-underline">...</span> <span class="org-comment">% Position of the Jacobian for force location from the top of the mobile platform [mm]</span>
|
||||
<span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
stewart = computeGeometricalProperties<span class="org-rainbow-delimiters-depth-1">(</span>stewart, opts<span class="org-rainbow-delimiters-depth-1">)</span>;
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||||
opts = struct<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-underline">...</span>
|
||||
<span class="org-string">'stroke'</span>, <span class="org-highlight-numbers-number">50e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span> <span class="org-underline">...</span> <span class="org-comment">% Maximum stroke of each actuator [m]</span>
|
||||
<span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
stewart = initializeMechanicalElements<span class="org-rainbow-delimiters-depth-1">(</span>stewart, opts<span class="org-rainbow-delimiters-depth-1">)</span>;
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||||
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||||
save<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'./mat/stewart.mat', 'stewart'</span><span style="color: #DCDCCC;">)</span>;
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save<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'./mat/stewart.mat', 'stewart'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
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||||
</pre>
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</div>
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</div>
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</div>
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||||
<div id="outline-container-orgaf07b82" class="outline-3">
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||||
<h3 id="orgaf07b82"><span class="section-number-3">1.2</span> Wanted translations and rotations</h3>
|
||||
<div id="outline-container-org8ece9f1" class="outline-3">
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||||
<h3 id="org8ece9f1"><span class="section-number-3">1.2</span> Wanted translations and rotations</h3>
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||||
<div class="outline-text-3" id="text-1-2">
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<p>
|
||||
We define wanted translations and rotations
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</p>
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<div class="org-src-container">
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||||
<pre class="src src-matlab">Tx_max = <span style="color: #BFEBBF;">15e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">6</span>; <span style="color: #7F9F7F;">% Translation [m]</span>
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||||
Ty_max = <span style="color: #BFEBBF;">15e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">6</span>; <span style="color: #7F9F7F;">% Translation [m]</span>
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||||
Tz_max = <span style="color: #BFEBBF;">15e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">6</span>; <span style="color: #7F9F7F;">% Translation [m]</span>
|
||||
Rx_max = <span style="color: #BFEBBF;">30e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">6</span>; <span style="color: #7F9F7F;">% Rotation [rad]</span>
|
||||
Ry_max = <span style="color: #BFEBBF;">30e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">6</span>; <span style="color: #7F9F7F;">% Rotation [rad]</span>
|
||||
<pre class="src src-matlab">Tx_max = <span class="org-highlight-numbers-number">15e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Translation [m]</span>
|
||||
Ty_max = <span class="org-highlight-numbers-number">15e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Translation [m]</span>
|
||||
Tz_max = <span class="org-highlight-numbers-number">15e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Translation [m]</span>
|
||||
Rx_max = <span class="org-highlight-numbers-number">30e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Rotation [rad]</span>
|
||||
Ry_max = <span class="org-highlight-numbers-number">30e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Rotation [rad]</span>
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-org920b62b" class="outline-3">
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<h3 id="org920b62b"><span class="section-number-3">1.3</span> Needed stroke for "pure" rotations or translations</h3>
|
||||
<div id="outline-container-org8cd9dfc" class="outline-3">
|
||||
<h3 id="org8cd9dfc"><span class="section-number-3">1.3</span> Needed stroke for "pure" rotations or translations</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<p>
|
||||
First, we estimate the needed actuator stroke for "pure" rotations and translation.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">LTx = stewart.Jd<span style="color: #7CB8BB;">*</span><span style="color: #DCDCCC;">[</span>Tx_max <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #DCDCCC;">]</span>';
|
||||
LTy = stewart.Jd<span style="color: #7CB8BB;">*</span><span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">0</span> Ty_max <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #DCDCCC;">]</span>';
|
||||
LTz = stewart.Jd<span style="color: #7CB8BB;">*</span><span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> Tz_max <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #DCDCCC;">]</span>';
|
||||
LRx = stewart.Jd<span style="color: #7CB8BB;">*</span><span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> Rx_max <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #DCDCCC;">]</span>';
|
||||
LRy = stewart.Jd<span style="color: #7CB8BB;">*</span><span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> Ry_max <span style="color: #BFEBBF;">0</span><span style="color: #DCDCCC;">]</span>';
|
||||
<pre class="src src-matlab">LTx = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span>Tx_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>';
|
||||
LTy = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> Ty_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>';
|
||||
LTz = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> Tz_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>';
|
||||
LRx = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> Rx_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>';
|
||||
LRy = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> Ry_max <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>';
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<pre class="example">
|
||||
1.0607e-05
|
||||
From -1.2e-05[m] to 1.1e-05[m]: Total stroke = 22.9[um]
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org27bf97e" class="outline-3">
|
||||
<h3 id="org27bf97e"><span class="section-number-3">1.4</span> Needed stroke for combined translations and rotations</h3>
|
||||
<div id="outline-container-org9acbff2" class="outline-3">
|
||||
<h3 id="org9acbff2"><span class="section-number-3">1.4</span> Needed stroke for combined translations and rotations</h3>
|
||||
<div class="outline-text-3" id="text-1-4">
|
||||
<p>
|
||||
Now, we combine translations and rotations, and we try to find the worst case (that we suppose to happen at the border).
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Lmax = <span style="color: #BFEBBF;">0</span>;
|
||||
pos = <span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">0</span><span style="color: #DCDCCC;">]</span>;
|
||||
<span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">Tx</span> = <span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">-Tx_max</span>,Tx_max<span style="color: #DCDCCC;">]</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">Ty</span> = <span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">-Ty_max</span>,Ty_max<span style="color: #DCDCCC;">]</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">Tz</span> = <span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">-Tz_max</span>,Tz_max<span style="color: #DCDCCC;">]</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">Rx</span> = <span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">-Rx_max</span>,Rx_max<span style="color: #DCDCCC;">]</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">Ry</span> = <span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">-Ry_max</span>,Ry_max<span style="color: #DCDCCC;">]</span>
|
||||
L = max<span style="color: #DCDCCC;">(</span>stewart.Jd<span style="color: #7CB8BB;">*</span><span style="color: #BFEBBF;">[</span>Tx Ty Tz Rx Ry <span style="color: #BFEBBF;">0</span><span style="color: #BFEBBF;">]</span>'<span style="color: #DCDCCC;">)</span>;
|
||||
<span style="color: #F0DFAF; font-weight: bold;">if</span> L <span style="color: #7CB8BB;">></span> Lmax
|
||||
Lmax = L;
|
||||
pos = <span style="color: #DCDCCC;">[</span>Tx Ty Tz Rx Ry<span style="color: #DCDCCC;">]</span>;
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<pre class="src src-matlab">Lmax = <span class="org-highlight-numbers-number">0</span>;
|
||||
Lmin = <span class="org-highlight-numbers-number">0</span>;
|
||||
pos = <span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>;
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">Tx</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Tx_max</span>,Tx_max<span class="org-rainbow-delimiters-depth-1">]</span>
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">Ty</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Ty_max</span>,Ty_max<span class="org-rainbow-delimiters-depth-1">]</span>
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">Tz</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Tz_max</span>,Tz_max<span class="org-rainbow-delimiters-depth-1">]</span>
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">Rx</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Rx_max</span>,Rx_max<span class="org-rainbow-delimiters-depth-1">]</span>
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">Ry</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Ry_max</span>,Ry_max<span class="org-rainbow-delimiters-depth-1">]</span>
|
||||
lmax = max<span class="org-rainbow-delimiters-depth-1">(</span>stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-2">[</span>Tx Ty Tz Rx Ry <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-2">]</span>'<span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
lmin = min<span class="org-rainbow-delimiters-depth-1">(</span>stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-2">[</span>Tx Ty Tz Rx Ry <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-2">]</span>'<span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
<span class="org-keyword">if</span> lmax <span class="org-type">></span> Lmax
|
||||
Lmax = lmax;
|
||||
pos = <span class="org-rainbow-delimiters-depth-1">[</span>Tx Ty Tz Rx Ry<span class="org-rainbow-delimiters-depth-1">]</span>;
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">if</span> lmin <span class="org-type"><</span> Lmin
|
||||
Lmin = lmin;
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -380,76 +389,76 @@ pos = <span style="color: #DCDCCC;">[</span><span style="color: #BFEBBF;">0</spa
|
||||
We obtain a needed stroke shown below (almost two times the needed stroke for "pure" rotations and translations).
|
||||
</p>
|
||||
<pre class="example">
|
||||
3.0927e-05
|
||||
From -3.1e-05[m] to 3.1e-05[m]: Total stroke = 61.5[um]
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgaebf111" class="outline-2">
|
||||
<h2 id="orgaebf111"><span class="section-number-2">2</span> Maximum Stroke</h2>
|
||||
<div id="outline-container-org0aef174" class="outline-2">
|
||||
<h2 id="org0aef174"><span class="section-number-2">2</span> Maximum Stroke</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
From a specified actuator stroke, we try to estimate the available maneuverability of the Stewart platform.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #DCDCCC;">[</span>X, Y, Z<span style="color: #DCDCCC;">]</span> = getMaxPositions<span style="color: #DCDCCC;">(</span><span style="color: #DFAF8F;">stewart</span><span style="color: #DCDCCC;">)</span>;
|
||||
<pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>X, Y, Z<span class="org-rainbow-delimiters-depth-1">]</span> = getMaxPositions<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">stewart</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
plot3<span style="color: #DCDCCC;">(</span>X, Y, Z, <span style="color: #CC9393;">'k-'</span><span style="color: #DCDCCC;">)</span>
|
||||
<pre class="src src-matlab"><span class="org-type">figure</span>;
|
||||
plot3<span class="org-rainbow-delimiters-depth-1">(</span>X, Y, Z, <span class="org-string">'k-'</span><span class="org-rainbow-delimiters-depth-1">)</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfb8a1e7" class="outline-2">
|
||||
<h2 id="orgfb8a1e7"><span class="section-number-2">3</span> Functions</h2>
|
||||
<div id="outline-container-orgff4f3e2" class="outline-2">
|
||||
<h2 id="orgff4f3e2"><span class="section-number-2">3</span> Functions</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
</div>
|
||||
<div id="outline-container-org465746a" class="outline-3">
|
||||
<h3 id="org465746a"><span class="section-number-3">3.1</span> getMaxPositions</h3>
|
||||
<div id="outline-container-orgca8f528" class="outline-3">
|
||||
<h3 id="orgca8f528"><span class="section-number-3">3.1</span> getMaxPositions</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #F0DFAF; font-weight: bold;">function</span> <span style="color: #DCDCCC;">[</span><span style="color: #DFAF8F;">X, Y, Z</span><span style="color: #DCDCCC;">]</span> = <span style="color: #93E0E3;">getMaxPositions</span><span style="color: #DCDCCC;">(</span><span style="color: #DFAF8F;">stewart</span><span style="color: #DCDCCC;">)</span>
|
||||
<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">X, Y, Z</span><span class="org-variable-name"><span class="org-rainbow-delimiters-depth-1">]</span></span> = <span class="org-function-name">getMaxPositions</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">stewart</span><span class="org-rainbow-delimiters-depth-1">)</span>
|
||||
Leg = stewart.Leg;
|
||||
J = stewart.Jd;
|
||||
theta = linspace<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">0</span>, <span style="color: #BFEBBF;">2</span><span style="color: #7CB8BB;">*</span><span style="color: #BFEBBF;">pi</span>, <span style="color: #BFEBBF;">100</span><span style="color: #DCDCCC;">)</span>;
|
||||
phi = linspace<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">pi</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">2</span> , <span style="color: #BFEBBF;">pi</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">2</span>, <span style="color: #BFEBBF;">100</span><span style="color: #DCDCCC;">)</span>;
|
||||
dmax = zeros<span style="color: #DCDCCC;">(</span>length<span style="color: #BFEBBF;">(</span>theta<span style="color: #BFEBBF;">)</span>, length<span style="color: #BFEBBF;">(</span>phi<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
theta = linspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span>, <span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
phi = linspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">-</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span> , <span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
dmax = zeros<span class="org-rainbow-delimiters-depth-1">(</span>length<span class="org-rainbow-delimiters-depth-2">(</span>theta<span class="org-rainbow-delimiters-depth-2">)</span>, length<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
|
||||
<span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">i</span> = <span style="color: #BFEBBF;">1</span><span style="color: #BFEBBF;">:length</span><span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">theta</span><span style="color: #DCDCCC;">)</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">j</span> = <span style="color: #BFEBBF;">1</span><span style="color: #BFEBBF;">:length</span><span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">phi</span><span style="color: #DCDCCC;">)</span>
|
||||
L = J<span style="color: #7CB8BB;">*</span><span style="color: #DCDCCC;">[</span>cos<span style="color: #BFEBBF;">(</span>phi<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">j</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span><span style="color: #7CB8BB;">*</span>cos<span style="color: #BFEBBF;">(</span>theta<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">i</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span> cos<span style="color: #BFEBBF;">(</span>phi<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">j</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span><span style="color: #7CB8BB;">*</span>sin<span style="color: #BFEBBF;">(</span>theta<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">i</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span> sin<span style="color: #BFEBBF;">(</span>phi<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">j</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #DCDCCC;">]</span>';
|
||||
dmax<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">i</span>, <span style="color: #BFEBBF;">j</span><span style="color: #DCDCCC;">)</span> = Leg.stroke<span style="color: #7CB8BB;">/</span>max<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>L<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">i</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:length</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-constant">theta</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">)</span></span>
|
||||
<span class="org-keyword">for</span> <span class="org-variable-name">j</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:length</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-constant">phi</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">)</span></span>
|
||||
L = J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span>cos<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">*</span>cos<span class="org-rainbow-delimiters-depth-2">(</span>theta<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">i</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span> cos<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">*</span>sin<span class="org-rainbow-delimiters-depth-2">(</span>theta<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">i</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span> sin<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>';
|
||||
dmax<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-constant">i</span>, <span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>L<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
X = dmax<span style="color: #7CB8BB;">.*</span>cos<span style="color: #DCDCCC;">(</span>repmat<span style="color: #BFEBBF;">(</span>phi,length<span style="color: #D0BF8F;">(</span>theta<span style="color: #D0BF8F;">)</span>,<span style="color: #BFEBBF;">1</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span><span style="color: #7CB8BB;">.*</span>cos<span style="color: #DCDCCC;">(</span>repmat<span style="color: #BFEBBF;">(</span>theta,length<span style="color: #D0BF8F;">(</span>phi<span style="color: #D0BF8F;">)</span>,<span style="color: #BFEBBF;">1</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>';
|
||||
Y = dmax<span style="color: #7CB8BB;">.*</span>cos<span style="color: #DCDCCC;">(</span>repmat<span style="color: #BFEBBF;">(</span>phi,length<span style="color: #D0BF8F;">(</span>theta<span style="color: #D0BF8F;">)</span>,<span style="color: #BFEBBF;">1</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span><span style="color: #7CB8BB;">.*</span>sin<span style="color: #DCDCCC;">(</span>repmat<span style="color: #BFEBBF;">(</span>theta,length<span style="color: #D0BF8F;">(</span>phi<span style="color: #D0BF8F;">)</span>,<span style="color: #BFEBBF;">1</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>';
|
||||
Z = dmax<span style="color: #7CB8BB;">.*</span>sin<span style="color: #DCDCCC;">(</span>repmat<span style="color: #BFEBBF;">(</span>phi,length<span style="color: #D0BF8F;">(</span>theta<span style="color: #D0BF8F;">)</span>,<span style="color: #BFEBBF;">1</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
X = dmax<span class="org-type">.*</span>cos<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>phi,length<span class="org-rainbow-delimiters-depth-3">(</span>theta<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">.*</span>cos<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>theta,length<span class="org-rainbow-delimiters-depth-3">(</span>phi<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>';
|
||||
Y = dmax<span class="org-type">.*</span>cos<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>phi,length<span class="org-rainbow-delimiters-depth-3">(</span>theta<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">.*</span>sin<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>theta,length<span class="org-rainbow-delimiters-depth-3">(</span>phi<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>';
|
||||
Z = dmax<span class="org-type">.*</span>sin<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>phi,length<span class="org-rainbow-delimiters-depth-3">(</span>theta<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org527f7ca" class="outline-3">
|
||||
<h3 id="org527f7ca"><span class="section-number-3">3.2</span> getMaxPureDisplacement</h3>
|
||||
<div id="outline-container-org0ac04ca" class="outline-3">
|
||||
<h3 id="org0ac04ca"><span class="section-number-3">3.2</span> getMaxPureDisplacement</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #F0DFAF; font-weight: bold;">function</span> <span style="color: #DCDCCC;">[</span><span style="color: #DFAF8F;">max_disp</span><span style="color: #DCDCCC;">]</span> = <span style="color: #93E0E3;">getMaxPureDisplacement</span><span style="color: #DCDCCC;">(</span><span style="color: #DFAF8F;">Leg</span>, <span style="color: #DFAF8F;">J</span><span style="color: #DCDCCC;">)</span>
|
||||
max_disp = zeros<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">6</span>, <span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span>;
|
||||
max_disp<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span> = Leg.stroke<span style="color: #7CB8BB;">/</span>max<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>J<span style="color: #7CB8BB;">*</span><span style="color: #D0BF8F;">[</span><span style="color: #BFEBBF;">1</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #D0BF8F;">]</span>'<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
max_disp<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">2</span><span style="color: #DCDCCC;">)</span> = Leg.stroke<span style="color: #7CB8BB;">/</span>max<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>J<span style="color: #7CB8BB;">*</span><span style="color: #D0BF8F;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">1</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #D0BF8F;">]</span>'<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
max_disp<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">3</span><span style="color: #DCDCCC;">)</span> = Leg.stroke<span style="color: #7CB8BB;">/</span>max<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>J<span style="color: #7CB8BB;">*</span><span style="color: #D0BF8F;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">1</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #D0BF8F;">]</span>'<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
max_disp<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">4</span><span style="color: #DCDCCC;">)</span> = Leg.stroke<span style="color: #7CB8BB;">/</span>max<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>J<span style="color: #7CB8BB;">*</span><span style="color: #D0BF8F;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">1</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span><span style="color: #D0BF8F;">]</span>'<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
max_disp<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">5</span><span style="color: #DCDCCC;">)</span> = Leg.stroke<span style="color: #7CB8BB;">/</span>max<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>J<span style="color: #7CB8BB;">*</span><span style="color: #D0BF8F;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">1</span> <span style="color: #BFEBBF;">0</span><span style="color: #D0BF8F;">]</span>'<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
max_disp<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">6</span><span style="color: #DCDCCC;">)</span> = Leg.stroke<span style="color: #7CB8BB;">/</span>max<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>J<span style="color: #7CB8BB;">*</span><span style="color: #D0BF8F;">[</span><span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">0</span> <span style="color: #BFEBBF;">1</span><span style="color: #D0BF8F;">]</span>'<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
<span style="color: #F0DFAF; font-weight: bold;">end</span>
|
||||
<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">max_disp</span><span class="org-variable-name"><span class="org-rainbow-delimiters-depth-1">]</span></span> = <span class="org-function-name">getMaxPureDisplacement</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">Leg</span>, <span class="org-variable-name">J</span><span class="org-rainbow-delimiters-depth-1">)</span>
|
||||
max_disp = zeros<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">6</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">6</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>;
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
@@ -458,7 +467,7 @@ plot3<span style="color: #DCDCCC;">(</span>X, Y, Z, <span style="color: #CC9393;
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-03-26 mar. 09:24</p>
|
||||
<p class="date">Created: 2019-08-26 lun. 11:55</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
|
||||
Reference in New Issue
Block a user