Add a function to output the state of the platform
This commit is contained in:
@@ -151,7 +151,7 @@
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| cite:taghavi19_desig_model_simul_novel_hexap | | | | 6-SCS | Conventional | - | - | Passive Damping | Matlab/Simscape | 6dof passive damper |
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| cite:owoc19_mechat_desig_model_contr_stewar_gough_platf | | | | | | Rotary | | PID | | Low cost Stewart-Platform |
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| 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 |
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| 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 |
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| 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 |
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| cite:stabile19_desig_analy_novel_hexap_platf | | | | | | | | | | |
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| cite:tong20_dynam_decoup_analy_exper_based | | | | | | | | | | |
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@@ -290,6 +290,52 @@ Let's now move a little bit the top platform and re-display the configuration:
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#+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]])
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[[file:figs/stewart_architecture_example_pose.png]]
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One can also use the =describeStewartPlatform= function to have a description of the current Stewart platform's state.
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#+begin_src matlab :results output replace :exports results
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describeStewartPlatform(stewart)
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#+end_src
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#+RESULTS:
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#+begin_example
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describeStewartPlatform(stewart)
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GEOMETRY:
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- The height between the fixed based and the top platform is 90 [mm].
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- Frame {A} is located 45 [mm] above the top platform.
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- The initial length of the struts are:
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95.2, 95.2, 95.2, 95.2, 95.2, 95.2 [mm]
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ACTUATORS:
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- The actuators are mechanicaly amplified.
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- The vertical stiffness and damping contribution of the piezoelectric stack is:
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ka = 2e+07 [N/m] ca = 1e+01 [N/(m/s)]
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- Vertical stiffness when the piezoelectric stack is removed is:
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kr = 5e+06 [N/m] cr = 1e+01 [N/(m/s)]
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JOINTS:
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- The joints on the fixed based are universal joints
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- The joints on the mobile based are spherical joints
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- The position of the joints on the fixed based with respect to {F} are (in [mm]):
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113 -20 15
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113 20 15
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-39.3 108 15
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-73.9 88.1 15
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-73.9 -88.1 15
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-39.3 -108 15
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- The position of the joints on the mobile based with respect to {M} are (in [mm]):
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57.9 -68.9 -15
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57.9 68.9 -15
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30.8 84.6 -15
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-88.6 15.6 -15
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-88.6 -15.6 -15
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30.8 -84.6 -15
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KINEMATICS:
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'org_babel_eoe'
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ans =
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'org_babel_eoe'
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#+end_example
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* Functions
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<<sec:functions>>
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@@ -1794,6 +1840,135 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
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#+end_src
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** =describeStewartPlatform=: Display some text describing the current defined Stewart Platform
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/describeStewartPlatform.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:describeStewartPlatform>>
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This Matlab function is accessible [[file:../src/describeStewartPlatform.m][here]].
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*** Function description
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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function [] = describeStewartPlatform(stewart)
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% describeStewartPlatform - Display some text describing the current defined Stewart Platform
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%
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% Syntax: [] = describeStewartPlatform(args)
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%
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% Inputs:
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% - stewart
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%
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% Outputs:
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#+end_src
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*** Optional Parameters
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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#+begin_src matlab
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arguments
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stewart
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end
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#+end_src
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*** Geometry
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#+begin_src matlab
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fprintf('GEOMETRY:\n')
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fprintf('- The height between the fixed based and the top platform is %.3g [mm].\n', 1e3*stewart.geometry.H)
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if stewart.platform_M.MO_B(3) > 0
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fprintf('- Frame {A} is located %.3g [mm] above the top platform.\n', 1e3*stewart.platform_M.MO_B(3))
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else
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fprintf('- Frame {A} is located %.3g [mm] below the top platform.\n', - 1e3*stewart.platform_M.MO_B(3))
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end
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fprintf('- The initial length of the struts are:\n')
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fprintf('\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n', 1e3*stewart.geometry.l)
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fprintf('\n')
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#+end_src
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*** Actuators
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#+begin_src matlab
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fprintf('ACTUATORS:\n')
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if stewart.actuators.type == 1
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fprintf('- The actuators are classical.\n')
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fprintf('- The Stiffness and Damping of each actuators is:\n')
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fprintf('\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n', stewart.actuators.K(1), stewart.actuators.C(1))
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elseif stewart.actuators.type == 2
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fprintf('- The actuators are mechanicaly amplified.\n')
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fprintf('- The vertical stiffness and damping contribution of the piezoelectric stack is:\n')
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fprintf('\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n', stewart.actuators.Ka(1), stewart.actuators.Ca(1))
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fprintf('- Vertical stiffness when the piezoelectric stack is removed is:\n')
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fprintf('\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n', stewart.actuators.Kr(1), stewart.actuators.Cr(1))
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end
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fprintf('\n')
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#+end_src
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*** Joints
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#+begin_src matlab
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fprintf('JOINTS:\n')
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#+end_src
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Type of the joints on the fixed base.
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#+begin_src matlab
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switch stewart.joints_F.type
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case 1
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fprintf('- The joints on the fixed based are universal joints\n')
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case 2
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fprintf('- The joints on the fixed based are spherical joints\n')
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case 3
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fprintf('- The joints on the fixed based are perfect universal joints\n')
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case 4
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fprintf('- The joints on the fixed based are perfect spherical joints\n')
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end
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#+end_src
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Type of the joints on the mobile platform.
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#+begin_src matlab
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switch stewart.joints_M.type
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case 1
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fprintf('- The joints on the mobile based are universal joints\n')
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case 2
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fprintf('- The joints on the mobile based are spherical joints\n')
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case 3
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fprintf('- The joints on the mobile based are perfect universal joints\n')
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case 4
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fprintf('- The joints on the mobile based are perfect spherical joints\n')
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end
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#+end_src
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Position of the fixed joints
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#+begin_src matlab
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fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')
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fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_F.Fa)
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#+end_src
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Position of the mobile joints
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#+begin_src matlab
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fprintf('- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n')
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fprintf('\t % .3g \t % .3g \t % .3g\n', 1e3*stewart.platform_M.Mb)
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fprintf('\n')
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#+end_src
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*** Kinematics
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#+begin_src matlab
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fprintf('KINEMATICS:\n')
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if isfield(stewart.kinematics, 'K')
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fprintf('- The Stiffness matrix K is (in [N/m]):\n')
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fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.K)
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end
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if isfield(stewart.kinematics, 'C')
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fprintf('- The Damping matrix C is (in [m/N]):\n')
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fprintf('\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n', stewart.kinematics.C)
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end
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#+end_src
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* Bibliography :ignore:
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bibliographystyle:unsrt
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bibliography:ref.bib
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