diff --git a/docs/bibliography.html b/docs/bibliography.html index 364a213..7d84a44 100644 --- a/docs/bibliography.html +++ b/docs/bibliography.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platform - Bibliography @@ -1425,7 +1425,7 @@ yang19_dynam_model_decoup_contr_flexib -  +1 X   6-UPS (Cubic?) @@ -1659,7 +1659,7 @@

Author: Dehaeze Thomas

-

Created: 2020-03-11 mer. 19:00

+

Created: 2020-03-13 ven. 10:04

diff --git a/docs/stewart-architecture.html b/docs/stewart-architecture.html index 8511d1e..e664ae7 100644 --- a/docs/stewart-architecture.html +++ b/docs/stewart-architecture.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platform - Definition of the Architecture @@ -275,85 +275,85 @@ @@ -799,6 +809,49 @@ view([0 -1 0]);

Figure 6: Display of the Stewart platform architecture at some defined pose (png, pdf)

+ +

+One can also use the describeStewartPlatform function to have a description of the current Stewart platform’s state. +

+ +
+describeStewartPlatform(stewart)
+GEOMETRY:
+- The height between the fixed based and the top platform is 90 [mm].
+- Frame {A} is located 45 [mm] above the top platform.
+- The initial length of the struts are:
+	 95.2, 95.2, 95.2, 95.2, 95.2, 95.2 [mm]
+
+ACTUATORS:
+- The actuators are mechanicaly amplified.
+- The vertical stiffness and damping contribution of the piezoelectric stack is:
+	 ka = 2e+07 [N/m] 	 ca = 1e+01 [N/(m/s)]
+- Vertical stiffness when the piezoelectric stack is removed is:
+	 kr = 5e+06 [N/m] 	 cr = 1e+01 [N/(m/s)]
+
+JOINTS:
+- The joints on the fixed based are universal joints
+- The joints on the mobile based are spherical joints
+- The position of the joints on the fixed based with respect to {F} are (in [mm]):
+	  113 	 -20 	  15
+	  113 	  20 	  15
+	 -39.3 	  108 	  15
+	 -73.9 	  88.1 	  15
+	 -73.9 	 -88.1 	  15
+	 -39.3 	 -108 	  15
+- The position of the joints on the mobile based with respect to {M} are (in [mm]):
+	  57.9 	 -68.9 	 -15
+	  57.9 	  68.9 	 -15
+	  30.8 	  84.6 	 -15
+	 -88.6 	  15.6 	 -15
+	 -88.6 	 -15.6 	 -15
+	  30.8 	 -84.6 	 -15
+
+KINEMATICS:
+'org_babel_eoe'
+ans =
+    'org_babel_eoe'
+
@@ -823,11 +876,11 @@ This Matlab function is accessible

-
-

Documentation

-
+
+

Documentation

+
- -
-

Function description

-
+
+

Function description

+
function [stewart] = initializeStewartPlatform()
 % initializeStewartPlatform - Initialize the stewart structure
@@ -896,11 +949,11 @@ This Matlab function is accessible
-
-

Documentation

-
+
+

Documentation

+
- -
-

Function description

-
+
+

Function description

+
function [stewart] = initializeFramesPositions(stewart, args)
 % initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}
@@ -933,9 +986,9 @@ This Matlab function is accessible
-
-

Optional Parameters

-
+
+

Optional Parameters

+
arguments
     stewart
@@ -963,9 +1016,9 @@ FO_A = MO_B + FO_M; % Po
-
-

Populate the stewart structure

-
+
+

Populate the stewart structure

+
stewart.geometry.H      = H;
 stewart.geometry.FO_M   = FO_M;
@@ -989,9 +1042,9 @@ This Matlab function is accessible 
-
Documentation

-

+
 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = generateGeneralConfiguration(stewart, args)
 % generateGeneralConfiguration - Generate a Very General Configuration
@@ -1033,9 +1086,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1070,9 +1123,9 @@ Mb = zeros(3,6);
 

 

 
-

-
Populate the stewart structure

-

+

+
Populate the stewart structure

+

 

 
stewart.platform_F.Fa = Fa;
 stewart.platform_M.Mb = Mb;
@@ -1094,9 +1147,9 @@ This Matlab function is accessible here
 

 

 
-

-
Documentation

-

+

+
Documentation

+

 
 

 
stewart-struts.png
@@ -1106,9 +1159,9 @@ This Matlab function is accessible here
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = computeJointsPose(stewart)
 % computeJointsPose -
@@ -1141,9 +1194,9 @@ This Matlab function is accessible here
 

 

 
-

-
Check the stewart structure elements

-

+

+
Check the stewart structure elements

+

 

 
assert(isfield(stewart.platform_F, 'Fa'),   'stewart.platform_F should have attribute Fa')
 Fa = stewart.platform_F.Fa;
@@ -1214,9 +1267,9 @@ MRb = zeros(3,3,6);
 

 

 
-

-
Populate the stewart structure

-

+

+
Populate the stewart structure

+

 

 
stewart.geometry.Aa = Aa;
 stewart.geometry.Ab = Ab;
@@ -1249,9 +1302,9 @@ This Matlab function is accessible here
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeStewartPose(stewart, args)
 % initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose
@@ -1275,9 +1328,9 @@ This Matlab function is accessible here
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1299,9 +1352,9 @@ This Matlab function is accessible here
 

 

 
-

-
Populate the stewart structure

-

+

+
Populate the stewart structure

+

 

 
stewart.actuators.Leq = dLi;
 

@@ -1322,9 +1375,9 @@ This Matlab function is accessible 
-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeCylindricalPlatforms(stewart, args)
 % initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
@@ -1358,9 +1411,9 @@ This Matlab function is accessible 
-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1395,9 +1448,9 @@ This Matlab function is accessible 
-
Populate the stewart structure

-

+

+
Populate the stewart structure

+

 

 
stewart.platform_F.type = 1;
 
@@ -1433,9 +1486,9 @@ This Matlab function is accessible 
-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeCylindricalStruts(stewart, args)
 % initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
@@ -1468,9 +1521,9 @@ This Matlab function is accessible 
-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1518,9 +1571,9 @@ I_M = zeros(3, 3, 6); % Inertia of the "mobile" part o
 

 

 
-

-
Populate the stewart structure

-

+

+
Populate the stewart structure

+

 

 
stewart.struts_M.type = 1;
 
@@ -1556,9 +1609,9 @@ This Matlab function is accessible he
 

 

 
-

-
Documentation

-

+

+
Documentation

+

 
 

 
piezoelectric_stack.jpg
@@ -1587,9 +1640,9 @@ A simplistic model of such amplified actuator is shown in Figure 
-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeStrutDynamics(stewart, args)
 % initializeStrutDynamics - Add Stiffness and Damping properties of each strut
@@ -1611,9 +1664,9 @@ A simplistic model of such amplified actuator is shown in Figure 
-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1651,9 +1704,9 @@ This Matlab function is accessible 
-
Documentation

-

+

+
Documentation

+

 

 An amplified piezoelectric actuator is shown in Figure 13.
 

@@ -1686,9 +1739,9 @@ A simplistic model of such amplified actuator is shown in Figure 
-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeAmplifiedStrutDynamics(stewart, args)
 % initializeAmplifiedStrutDynamics - Add Stiffness and Damping properties of each strut
@@ -1716,9 +1769,9 @@ A simplistic model of such amplified actuator is shown in Figure 
-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1743,9 +1796,9 @@ C = args.Ca + args.Cr;
 

 

 
-

-
Populate the stewart structure

-

+

+
Populate the stewart structure

+

 

 
stewart.actuators.type = 2;
 
@@ -1775,9 +1828,9 @@ This Matlab function is accessible he
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeJointDynamics(stewart, args)
 % initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
@@ -1812,9 +1865,9 @@ This Matlab function is accessible he
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -2014,9 +2067,9 @@ Note that there is trade-off between:
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeInertialSensor(stewart, args)
 % initializeInertialSensor - Initialize the inertial sensor in each strut
@@ -2042,9 +2095,9 @@ Note that there is trade-off between:
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -2085,9 +2138,9 @@ Note that there is trade-off between:
 

 

 
-

-
Populate the stewart structure

-

+

+
Populate the stewart structure

+

 

 
stewart.sensors.inertial = sensor;
 

@@ -2108,9 +2161,9 @@ This Matlab function is accessible here
 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [] = displayArchitecture(stewart, args)
 % displayArchitecture - 3D plot of the Stewart platform architecture
@@ -2139,9 +2192,9 @@ This Matlab function is accessible here
 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -2162,9 +2215,9 @@ This Matlab function is accessible here
 

 
-

-
Check the stewart structure elements

-

+

+
Check the stewart structure elements

+

 

 
assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A')
 FO_A = stewart.platform_F.FO_A;
@@ -2488,8 +2541,177 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
 

 

 

+
+
+

+
5.13 describeStewartPlatform: Display some text describing the current defined Stewart Platform

+

+

+
+

+
+

+This Matlab function is accessible here.
+

 

 
+

+
Function description

+

+

+
function [] = describeStewartPlatform(stewart)
+% describeStewartPlatform - Display some text describing the current defined Stewart Platform
+%
+% Syntax: [] = describeStewartPlatform(args)
+%
+% Inputs:
+%    - stewart
+%
+% Outputs:
+

+

+

+

+
+

+
Optional Parameters

+

+

+
arguments
+    stewart
+end
+

+

+

+

+
+

+
5.13.1 Geometry

+

+

+
fprintf('GEOMETRY:\n')
+fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)
+
+if stewart.platform_M.MO_B(3) > 0
+  fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n',  1e3*stewart.platform_M.MO_B(3))
+else
+  fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
+end
+
+fprintf('- The initial length of the struts are:\n')
+fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
+fprintf('\n')
+

+

+

+

+
+

+
5.13.2 Actuators

+

+

+
fprintf('ACTUATORS:\n')
+if stewart.actuators.type == 1
+    fprintf('- The actuators are classical.\n')
+    fprintf('- The Stiffness and Damping of each actuators is:\n')
+    fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1))
+elseif stewart.actuators.type == 2
+    fprintf('- The actuators are mechanicaly amplified.\n')
+    fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
+    fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1))
+    fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
+    fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1))
+end
+fprintf('\n')
+

+

+

+

+
+

+
5.13.3 Joints

+

+

+
fprintf('JOINTS:\n')
+

+

+
+

+Type of the joints on the fixed base.
+

+

+
switch stewart.joints_F.type
+  case 1
+    fprintf('- The joints on the fixed based are universal joints\n')
+  case 2
+    fprintf('- The joints on the fixed based are spherical joints\n')
+  case 3
+    fprintf('- The joints on the fixed based are perfect universal joints\n')
+  case 4
+    fprintf('- The joints on the fixed based are perfect spherical joints\n')
+end
+

+

+
+

+Type of the joints on the mobile platform.
+

+

+
switch stewart.joints_M.type
+  case 1
+    fprintf('- The joints on the mobile based are universal joints\n')
+  case 2
+    fprintf('- The joints on the mobile based are spherical joints\n')
+  case 3
+    fprintf('- The joints on the mobile based are perfect universal joints\n')
+  case 4
+    fprintf('- The joints on the mobile based are perfect spherical joints\n')
+end
+

+

+
+

+Position of the fixed joints
+

+

+
fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)
+

+

+
+

+Position of the mobile joints
+

+

+
fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
+fprintf('\n')
+

+

+

+

+
+

+
5.13.4 Kinematics

+

+

+
fprintf('KINEMATICS:\n')
+
+if isfield(stewart.kinematics, 'K')
+  fprintf('- The Stiffness matrix K is (in [N/m]):\n')
+  fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
+end
+
+if isfield(stewart.kinematics, 'C')
+  fprintf('- The Damping matrix C is (in [m/N]):\n')
+  fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
+end
+

+

+

+

+

+

 
 

 
@@ -2500,7 +2722,7 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
 

 

 
Author: Dehaeze Thomas

-
Created: 2020-03-02 lun. 17:57

+
Created: 2020-03-13 ven. 10:05

 

 
 
diff --git a/org/bibliography.org b/org/bibliography.org
index e0eebdc..ed42996 100644
--- a/org/bibliography.org
+++ b/org/bibliography.org
@@ -151,7 +151,7 @@
 | cite:taghavi19_desig_model_simul_novel_hexap                                                   |      |       |                             | 6-SCS             | Conventional | -                    | -                            | Passive Damping                                                     | Matlab/Simscape            | 6dof passive damper                                                                                         |
 | cite:owoc19_mechat_desig_model_contr_stewar_gough_platf                                        |      |       |                             |                   |              | Rotary               |                              | PID                                                                 |                            | Low cost Stewart-Platform                                                                                   |
 | cite:min19_high_precis_track_cubic_stewar                                                      |      |       |                             | Cubic             |              | Piezoelectric        | Leg length                   | Tracking control, ADRC, State observer                              | Analytical                 | Use of ADRC for tracking control of cubic hexapod                                                           |
-| cite:yang19_dynam_model_decoup_contr_flexib                                                    |      |   X   |                             | 6-UPS (Cubic?)    | Flexible     | Piezoelectric        | Force, Position              | Vibration isolation, Model-Based, Modal control                     | Solid/Flexible             | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space |
+| cite:yang19_dynam_model_decoup_contr_flexib                                                    |  1   |   X   |                             | 6-UPS (Cubic?)    | Flexible     | Piezoelectric        | Force, Position              | Vibration isolation, Model-Based, Modal control                     | Solid/Flexible             | Stiffness of flexible joints is compensated using feedback, then the system is decoupled in the modal space |
 | cite:stabile19_desig_analy_novel_hexap_platf                                                   |      |       |                             |                   |              |                      |                              |                                                                     |                            |                                                                                                             |
 | cite:tong20_dynam_decoup_analy_exper_based                                                     |      |       |                             |                   |              |                      |                              |                                                                     |                            |                                                                                                             |
 
diff --git a/org/stewart-architecture.org b/org/stewart-architecture.org
index 449301e..fb1edfb 100644
--- a/org/stewart-architecture.org
+++ b/org/stewart-architecture.org
@@ -290,6 +290,52 @@ Let's now move a little bit the top platform and re-display the configuration:
 #+caption: Display of the Stewart platform architecture at some defined pose ([[./figs/stewart_architecture_example_pose.png][png]], [[./figs/stewart_architecture_example_pose.pdf][pdf]])
 [[file:figs/stewart_architecture_example_pose.png]]
 
+One can also use the =describeStewartPlatform= function to have a description of the current Stewart platform's state.
+
+#+begin_src matlab :results output replace :exports results
+  describeStewartPlatform(stewart)
+#+end_src
+
+#+RESULTS:
+#+begin_example
+describeStewartPlatform(stewart)
+GEOMETRY:
+- The height between the fixed based and the top platform is 90 [mm].
+- Frame {A} is located 45 [mm] above the top platform.
+- The initial length of the struts are:
+	 95.2, 95.2, 95.2, 95.2, 95.2, 95.2 [mm]
+
+ACTUATORS:
+- The actuators are mechanicaly amplified.
+- The vertical stiffness and damping contribution of the piezoelectric stack is:
+	 ka = 2e+07 [N/m] 	 ca = 1e+01 [N/(m/s)]
+- Vertical stiffness when the piezoelectric stack is removed is:
+	 kr = 5e+06 [N/m] 	 cr = 1e+01 [N/(m/s)]
+
+JOINTS:
+- The joints on the fixed based are universal joints
+- The joints on the mobile based are spherical joints
+- The position of the joints on the fixed based with respect to {F} are (in [mm]):
+	  113 	 -20 	  15
+	  113 	  20 	  15
+	 -39.3 	  108 	  15
+	 -73.9 	  88.1 	  15
+	 -73.9 	 -88.1 	  15
+	 -39.3 	 -108 	  15
+- The position of the joints on the mobile based with respect to {M} are (in [mm]):
+	  57.9 	 -68.9 	 -15
+	  57.9 	  68.9 	 -15
+	  30.8 	  84.6 	 -15
+	 -88.6 	  15.6 	 -15
+	 -88.6 	 -15.6 	 -15
+	  30.8 	 -84.6 	 -15
+
+KINEMATICS:
+'org_babel_eoe'
+ans =
+    'org_babel_eoe'
+#+end_example
+
 * Functions
 <>
 
@@ -1794,6 +1840,135 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
 #+end_src
 
 
+** =describeStewartPlatform=: Display some text describing the current defined Stewart Platform
+:PROPERTIES:
+:header-args:matlab+: :tangle ../src/describeStewartPlatform.m
+:header-args:matlab+: :comments none :mkdirp yes :eval no
+:END:
+<>
+
+This Matlab function is accessible [[file:../src/describeStewartPlatform.m][here]].
+
+*** Function description
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  function [] = describeStewartPlatform(stewart)
+  % describeStewartPlatform - Display some text describing the current defined Stewart Platform
+  %
+  % Syntax: [] = describeStewartPlatform(args)
+  %
+  % Inputs:
+  %    - stewart
+  %
+  % Outputs:
+#+end_src
+
+*** Optional Parameters
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  arguments
+      stewart
+  end
+#+end_src
+
+*** Geometry
+#+begin_src matlab
+  fprintf('GEOMETRY:\n')
+  fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)
+
+  if stewart.platform_M.MO_B(3) > 0
+    fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n',  1e3*stewart.platform_M.MO_B(3))
+  else
+    fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
+  end
+
+  fprintf('- The initial length of the struts are:\n')
+  fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
+  fprintf('\n')
+#+end_src
+
+*** Actuators
+#+begin_src matlab
+  fprintf('ACTUATORS:\n')
+  if stewart.actuators.type == 1
+      fprintf('- The actuators are classical.\n')
+      fprintf('- The Stiffness and Damping of each actuators is:\n')
+      fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1))
+  elseif stewart.actuators.type == 2
+      fprintf('- The actuators are mechanicaly amplified.\n')
+      fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
+      fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1))
+      fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
+      fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1))
+  end
+  fprintf('\n')
+#+end_src
+
+*** Joints
+#+begin_src matlab
+  fprintf('JOINTS:\n')
+#+end_src
+
+Type of the joints on the fixed base.
+#+begin_src matlab
+  switch stewart.joints_F.type
+    case 1
+      fprintf('- The joints on the fixed based are universal joints\n')
+    case 2
+      fprintf('- The joints on the fixed based are spherical joints\n')
+    case 3
+      fprintf('- The joints on the fixed based are perfect universal joints\n')
+    case 4
+      fprintf('- The joints on the fixed based are perfect spherical joints\n')
+  end
+#+end_src
+
+Type of the joints on the mobile platform.
+#+begin_src matlab
+  switch stewart.joints_M.type
+    case 1
+      fprintf('- The joints on the mobile based are universal joints\n')
+    case 2
+      fprintf('- The joints on the mobile based are spherical joints\n')
+    case 3
+      fprintf('- The joints on the mobile based are perfect universal joints\n')
+    case 4
+      fprintf('- The joints on the mobile based are perfect spherical joints\n')
+  end
+#+end_src
+
+Position of the fixed joints
+#+begin_src matlab
+  fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')
+  fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)
+#+end_src
+
+Position of the mobile joints
+#+begin_src matlab
+  fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
+  fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
+  fprintf('\n')
+#+end_src
+
+*** Kinematics
+#+begin_src matlab
+  fprintf('KINEMATICS:\n')
+
+  if isfield(stewart.kinematics, 'K')
+    fprintf('- The Stiffness matrix K is (in [N/m]):\n')
+    fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
+  end
+
+  if isfield(stewart.kinematics, 'C')
+    fprintf('- The Damping matrix C is (in [m/N]):\n')
+    fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
+  end
+#+end_src
+
 * Bibliography                                                        :ignore:
 bibliographystyle:unsrt
 bibliography:ref.bib
diff --git a/src/describeStewartPlatform.m b/src/describeStewartPlatform.m
new file mode 100644
index 0000000..256fc60
--- /dev/null
+++ b/src/describeStewartPlatform.m
@@ -0,0 +1,83 @@
+function [] = describeStewartPlatform(stewart)
+% describeStewartPlatform - Display some text describing the current defined Stewart Platform
+%
+% Syntax: [] = describeStewartPlatform(args)
+%
+% Inputs:
+%    - stewart
+%
+% Outputs:
+
+arguments
+    stewart
+end
+
+fprintf('GEOMETRY:\n')
+fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)
+
+if stewart.platform_M.MO_B(3) > 0
+  fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n',  1e3*stewart.platform_M.MO_B(3))
+else
+  fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
+end
+
+fprintf('- The initial length of the struts are:\n')
+fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
+fprintf('\n')
+
+fprintf('ACTUATORS:\n')
+if stewart.actuators.type == 1
+    fprintf('- The actuators are classical.\n')
+    fprintf('- The Stiffness and Damping of each actuators is:\n')
+    fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1))
+elseif stewart.actuators.type == 2
+    fprintf('- The actuators are mechanicaly amplified.\n')
+    fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
+    fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1))
+    fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
+    fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1))
+end
+fprintf('\n')
+
+fprintf('JOINTS:\n')
+
+switch stewart.joints_F.type
+  case 1
+    fprintf('- The joints on the fixed based are universal joints\n')
+  case 2
+    fprintf('- The joints on the fixed based are spherical joints\n')
+  case 3
+    fprintf('- The joints on the fixed based are perfect universal joints\n')
+  case 4
+    fprintf('- The joints on the fixed based are perfect spherical joints\n')
+end
+
+switch stewart.joints_M.type
+  case 1
+    fprintf('- The joints on the mobile based are universal joints\n')
+  case 2
+    fprintf('- The joints on the mobile based are spherical joints\n')
+  case 3
+    fprintf('- The joints on the mobile based are perfect universal joints\n')
+  case 4
+    fprintf('- The joints on the mobile based are perfect spherical joints\n')
+end
+
+fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)
+
+fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
+fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
+fprintf('\n')
+
+fprintf('KINEMATICS:\n')
+
+if isfield(stewart.kinematics, 'K')
+  fprintf('- The Stiffness matrix K is (in [N/m]):\n')
+  fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
+end
+
+if isfield(stewart.kinematics, 'C')
+  fprintf('- The Damping matrix C is (in [m/N]):\n')
+  fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
+end
diff --git a/src/initializeFramesPositions.m b/src/initializeFramesPositions.m
index 0a136ef..f68b97d 100644
--- a/src/initializeFramesPositions.m
+++ b/src/initializeFramesPositions.m
@@ -1,7 +1,7 @@
 function [stewart] = initializeFramesPositions(stewart, args)
 % initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}
 %
-% Syntax: [stewart] = initializeFramesPositions(args)
+% Syntax: [stewart] = initializeFramesPositions(stewart, args)
 %
 % Inputs:
 %    - args - Can have the following fields: