Add a function to output the state of the platform
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<title>Stewart Platform - Bibliography</title>
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<tr>
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<td class="org-left"><a class='org-ref-reference' href="#yang19_dynam_model_decoup_contr_flexib">yang19_dynam_model_decoup_contr_flexib</a></td>
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<td class="org-center"> </td>
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<td class="org-center">1</td>
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<td class="org-center">X</td>
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<td class="org-left"> </td>
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<td class="org-left">6-UPS (Cubic?)</td>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2020-03-11 mer. 19:00</p>
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<p class="date">Created: 2020-03-13 ven. 10:04</p>
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<title>Stewart Platform - Definition of the Architecture</title>
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@ -275,85 +275,85 @@
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<ul>
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<li><a href="#orgd89f0e1">5.1. <code>initializeStewartPlatform</code>: Initialize the Stewart Platform structure</a>
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<ul>
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<li><a href="#orgcbe44a8">Documentation</a></li>
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<li><a href="#org3f0619e">Function description</a></li>
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<li><a href="#org924d673">Documentation</a></li>
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<li><a href="#orgbfad93c">Function description</a></li>
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<li><a href="#orgd567fc1">Initialize the Stewart structure</a></li>
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</ul>
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</li>
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<li><a href="#orgb11894c">5.2. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
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<ul>
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<li><a href="#orgcbfd0d8">Documentation</a></li>
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<li><a href="#orgdf63b4a">Function description</a></li>
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<li><a href="#orgc1e4a8f">Optional Parameters</a></li>
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<li><a href="#org3be3f73">Documentation</a></li>
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<li><a href="#orgf360d62">Function description</a></li>
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<li><a href="#orgc15c15e">Optional Parameters</a></li>
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<li><a href="#org458592e">Compute the position of each frame</a></li>
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<li><a href="#org5cb9de9">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org905bcb0">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org9057387">5.3. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
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<ul>
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<li><a href="#orga5c257f">Documentation</a></li>
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<li><a href="#org1d8e8a7">Function description</a></li>
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<li><a href="#org8c38e26">Optional Parameters</a></li>
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<li><a href="#org69fca78">Documentation</a></li>
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<li><a href="#org323b607">Function description</a></li>
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<li><a href="#orgae375ca">Optional Parameters</a></li>
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<li><a href="#org232e4c2">Compute the pose</a></li>
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<li><a href="#org36597c6">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#orgead0bb6">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org861f6de">5.4. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
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<ul>
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<li><a href="#org3199a1c">Documentation</a></li>
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<li><a href="#org9794682">Function description</a></li>
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<li><a href="#org5081c24">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#org3e877f1">Documentation</a></li>
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<li><a href="#org326a18f">Function description</a></li>
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<li><a href="#orgf83e615">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#org52b0d4c">Compute the position of the Joints</a></li>
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<li><a href="#org4b76b0f">Compute the strut length and orientation</a></li>
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<li><a href="#orgd621d5e">Compute the orientation of the Joints</a></li>
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<li><a href="#orge3aeda4">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org5a94199">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org329bef9">5.5. <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</a>
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<ul>
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<li><a href="#org7cc5b75">Function description</a></li>
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<li><a href="#orgf595acf">Optional Parameters</a></li>
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<li><a href="#org38b905c">Function description</a></li>
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<li><a href="#orgfed80b4">Optional Parameters</a></li>
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<li><a href="#org3d3ef62">Use the Inverse Kinematic function</a></li>
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<li><a href="#org27750f4">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org27bdc9d">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org6ff5b31">5.6. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
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<ul>
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<li><a href="#org624999a">Function description</a></li>
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<li><a href="#org04455cf">Optional Parameters</a></li>
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<li><a href="#org2e93470">Function description</a></li>
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<li><a href="#org6be8c93">Optional Parameters</a></li>
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<li><a href="#org25a390a">Compute the Inertia matrices of platforms</a></li>
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<li><a href="#orgc4a069e">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org275b596">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org60aa215">5.7. <code>initializeCylindricalStruts</code>: Define the inertia of cylindrical struts</a>
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<ul>
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<li><a href="#org54faea9">Function description</a></li>
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<li><a href="#org054477a">Optional Parameters</a></li>
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<li><a href="#org910b23c">Function description</a></li>
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<li><a href="#orgc7b5ecf">Optional Parameters</a></li>
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<li><a href="#orgc056498">Compute the properties of the cylindrical struts</a></li>
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<li><a href="#orgc660211">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org2265953">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org3ad0cd1">5.8. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
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<ul>
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<li><a href="#org6cad4f3">Documentation</a></li>
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<li><a href="#orga9da482">Function description</a></li>
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<li><a href="#orgd799057">Optional Parameters</a></li>
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<li><a href="#orgeca3162">Documentation</a></li>
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<li><a href="#org165e5ee">Function description</a></li>
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<li><a href="#org7b7ef5a">Optional Parameters</a></li>
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<li><a href="#orgadb8327">Add Stiffness and Damping properties of each strut</a></li>
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</ul>
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</li>
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<li><a href="#orgd8d403e">5.9. <code>initializeAmplifiedStrutDynamics</code>: Add Stiffness and Damping properties of each strut for an amplified piezoelectric actuator</a>
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<ul>
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<li><a href="#org6327083">Documentation</a></li>
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<li><a href="#orgab64078">Function description</a></li>
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<li><a href="#org8decfcb">Optional Parameters</a></li>
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<li><a href="#org475b126">Documentation</a></li>
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<li><a href="#org5572f90">Function description</a></li>
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<li><a href="#org9ba40d8">Optional Parameters</a></li>
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<li><a href="#org9b435e8">Compute the total stiffness and damping</a></li>
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<li><a href="#org9043c25">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org6b1407f">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#orgeb6173a">5.10. <code>initializeJointDynamics</code>: Add Stiffness and Damping properties for spherical joints</a>
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<ul>
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<li><a href="#orgd451395">Function description</a></li>
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<li><a href="#org6660cdc">Optional Parameters</a></li>
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<li><a href="#org0d226a1">Function description</a></li>
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<li><a href="#org00c4994">Optional Parameters</a></li>
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<li><a href="#orgc6d4183">Add Actuator Type</a></li>
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<li><a href="#orgc0e613c">Add Stiffness and Damping in Translation of each strut</a></li>
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<li><a href="#org04698fc">Add Stiffness and Damping in Rotation of each strut</a></li>
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<ul>
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<li><a href="#orgd667bbb">Geophone - Working Principle</a></li>
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<li><a href="#orgca7729f">Accelerometer - Working Principle</a></li>
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<li><a href="#org57dd702">Function description</a></li>
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<li><a href="#org2a3d621">Optional Parameters</a></li>
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<li><a href="#orgce80e4a">Function description</a></li>
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<li><a href="#org2fb047c">Optional Parameters</a></li>
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<li><a href="#org463075d">Compute the properties of the sensor</a></li>
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<li><a href="#org4c17df3">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org4a5435c">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org5266e9d">5.12. <code>displayArchitecture</code>: 3D plot of the Stewart platform architecture</a>
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<ul>
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<li><a href="#orga71445d">Function description</a></li>
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<li><a href="#org0e4e463">Optional Parameters</a></li>
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<li><a href="#org3789c70">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#org4c4b5ca">Function description</a></li>
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<li><a href="#org981d1d1">Optional Parameters</a></li>
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<li><a href="#org69a7a7b">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#orgc088b18">Figure Creation, Frames and Homogeneous transformations</a></li>
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<li><a href="#orgc25a979">Fixed Base elements</a></li>
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<li><a href="#org8417772">Mobile Platform elements</a></li>
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@ -382,6 +382,16 @@
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<li><a href="#orgf41db0f">5.12.2. Subplots</a></li>
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</ul>
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</li>
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<li><a href="#org3db8668">5.13. <code>describeStewartPlatform</code>: Display some text describing the current defined Stewart Platform</a>
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<ul>
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<li><a href="#orgae455e2">Function description</a></li>
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<li><a href="#org134294b">Optional Parameters</a></li>
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<li><a href="#org0ad0d00">5.13.1. Geometry</a></li>
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<li><a href="#org3d00e31">5.13.2. Actuators</a></li>
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<li><a href="#org0933fe4">5.13.3. Joints</a></li>
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<li><a href="#org7f9d11e">5.13.4. Kinematics</a></li>
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</ul>
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</li>
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</ul>
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</li>
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</ul>
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@ -799,6 +809,49 @@ view([0 <span class="org-type">-</span>1 0]);
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</p>
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<p><span class="figure-number">Figure 6: </span>Display of the Stewart platform architecture at some defined pose (<a href="./figs/stewart_architecture_example_pose.png">png</a>, <a href="./figs/stewart_architecture_example_pose.pdf">pdf</a>)</p>
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</div>
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<p>
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One can also use the <code>describeStewartPlatform</code> function to have a description of the current Stewart platform’s state.
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</p>
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<pre class="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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</pre>
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</div>
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</div>
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</div>
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@ -823,11 +876,11 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
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</p>
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</div>
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<div id="outline-container-orgcbe44a8" class="outline-4">
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<h4 id="orgcbe44a8">Documentation</h4>
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<div class="outline-text-4" id="text-orgcbe44a8">
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<div id="outline-container-org924d673" class="outline-4">
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<h4 id="org924d673">Documentation</h4>
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<div class="outline-text-4" id="text-org924d673">
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<div id="org8c7f906" class="figure">
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<div id="org274f772" class="figure">
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<p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
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</p>
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<p><span class="figure-number">Figure 7: </span>Definition of the position of the frames</p>
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@ -835,9 +888,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
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</div>
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</div>
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<div id="outline-container-org3f0619e" class="outline-4">
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<h4 id="org3f0619e">Function description</h4>
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<div class="outline-text-4" id="text-org3f0619e">
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<div id="outline-container-orgbfad93c" class="outline-4">
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<h4 id="orgbfad93c">Function description</h4>
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<div class="outline-text-4" id="text-orgbfad93c">
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPlatform</span>()
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<span class="org-comment">% initializeStewartPlatform - Initialize the stewart structure</span>
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@ -896,11 +949,11 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
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</p>
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</div>
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<div id="outline-container-orgcbfd0d8" class="outline-4">
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<h4 id="orgcbfd0d8">Documentation</h4>
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<div class="outline-text-4" id="text-orgcbfd0d8">
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<div id="outline-container-org3be3f73" class="outline-4">
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<h4 id="org3be3f73">Documentation</h4>
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<div class="outline-text-4" id="text-org3be3f73">
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<div id="org56fe1d1" class="figure">
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<div id="orgc79b9a4" class="figure">
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<p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
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</p>
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<p><span class="figure-number">Figure 8: </span>Definition of the position of the frames</p>
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@ -908,9 +961,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
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</div>
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</div>
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<div id="outline-container-orgdf63b4a" class="outline-4">
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<h4 id="orgdf63b4a">Function description</h4>
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<div class="outline-text-4" id="text-orgdf63b4a">
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<div id="outline-container-orgf360d62" class="outline-4">
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<h4 id="orgf360d62">Function description</h4>
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<div class="outline-text-4" id="text-orgf360d62">
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeFramesPositions</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
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<span class="org-comment">% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}</span>
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@ -933,9 +986,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
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</div>
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</div>
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<div id="outline-container-orgc1e4a8f" class="outline-4">
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<h4 id="orgc1e4a8f">Optional Parameters</h4>
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<div class="outline-text-4" id="text-orgc1e4a8f">
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<div id="outline-container-orgc15c15e" class="outline-4">
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<h4 id="orgc15c15e">Optional Parameters</h4>
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<div class="outline-text-4" id="text-orgc15c15e">
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<div class="org-src-container">
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<pre class="src src-matlab">arguments
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stewart
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@ -963,9 +1016,9 @@ FO_A = MO_B <span class="org-type">+</span> FO_M; <span class="org-comment">% Po
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5cb9de9" class="outline-4">
|
||||
<h4 id="org5cb9de9">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org5cb9de9">
|
||||
<div id="outline-container-org905bcb0" class="outline-4">
|
||||
<h4 id="org905bcb0">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org905bcb0">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.geometry.H = H;
|
||||
stewart.geometry.FO_M = FO_M;
|
||||
@ -989,9 +1042,9 @@ This Matlab function is accessible <a href="../src/generateGeneralConfiguration.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga5c257f" class="outline-4">
|
||||
<h4 id="orga5c257f">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-orga5c257f">
|
||||
<div id="outline-container-org69fca78" class="outline-4">
|
||||
<h4 id="org69fca78">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org69fca78">
|
||||
<p>
|
||||
Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
|
||||
The radius of the circles can be chosen as well as the angles where the joints are located (see Figure <a href="#org4c354b6">9</a>).
|
||||
@ -1006,9 +1059,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1d8e8a7" class="outline-4">
|
||||
<h4 id="org1d8e8a7">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org1d8e8a7">
|
||||
<div id="outline-container-org323b607" class="outline-4">
|
||||
<h4 id="org323b607">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org323b607">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateGeneralConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% generateGeneralConfiguration - Generate a Very General Configuration</span>
|
||||
@ -1033,9 +1086,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8c38e26" class="outline-4">
|
||||
<h4 id="org8c38e26">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org8c38e26">
|
||||
<div id="outline-container-orgae375ca" class="outline-4">
|
||||
<h4 id="orgae375ca">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgae375ca">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1070,9 +1123,9 @@ Mb = zeros(3,6);
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org36597c6" class="outline-4">
|
||||
<h4 id="org36597c6">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org36597c6">
|
||||
<div id="outline-container-orgead0bb6" class="outline-4">
|
||||
<h4 id="orgead0bb6">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orgead0bb6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.platform_F.Fa = Fa;
|
||||
stewart.platform_M.Mb = Mb;
|
||||
@ -1094,9 +1147,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3199a1c" class="outline-4">
|
||||
<h4 id="org3199a1c">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org3199a1c">
|
||||
<div id="outline-container-org3e877f1" class="outline-4">
|
||||
<h4 id="org3e877f1">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org3e877f1">
|
||||
|
||||
<div id="org8ffb841" class="figure">
|
||||
<p><img src="figs/stewart-struts.png" alt="stewart-struts.png" />
|
||||
@ -1106,9 +1159,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9794682" class="outline-4">
|
||||
<h4 id="org9794682">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org9794682">
|
||||
<div id="outline-container-org326a18f" class="outline-4">
|
||||
<h4 id="org326a18f">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org326a18f">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJointsPose</span>(<span class="org-variable-name">stewart</span>)
|
||||
<span class="org-comment">% computeJointsPose -</span>
|
||||
@ -1141,9 +1194,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5081c24" class="outline-4">
|
||||
<h4 id="org5081c24">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-org5081c24">
|
||||
<div id="outline-container-orgf83e615" class="outline-4">
|
||||
<h4 id="orgf83e615">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-orgf83e615">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">assert(isfield(stewart.platform_F, <span class="org-string">'Fa'</span>), <span class="org-string">'stewart.platform_F should have attribute Fa'</span>)
|
||||
Fa = stewart.platform_F.Fa;
|
||||
@ -1214,9 +1267,9 @@ MRb = zeros(3,3,6);
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge3aeda4" class="outline-4">
|
||||
<h4 id="orge3aeda4">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orge3aeda4">
|
||||
<div id="outline-container-org5a94199" class="outline-4">
|
||||
<h4 id="org5a94199">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org5a94199">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.geometry.Aa = Aa;
|
||||
stewart.geometry.Ab = Ab;
|
||||
@ -1249,9 +1302,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7cc5b75" class="outline-4">
|
||||
<h4 id="org7cc5b75">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org7cc5b75">
|
||||
<div id="outline-container-org38b905c" class="outline-4">
|
||||
<h4 id="org38b905c">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org38b905c">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPose</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose</span>
|
||||
@ -1275,9 +1328,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf595acf" class="outline-4">
|
||||
<h4 id="orgf595acf">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgf595acf">
|
||||
<div id="outline-container-orgfed80b4" class="outline-4">
|
||||
<h4 id="orgfed80b4">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgfed80b4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1299,9 +1352,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org27750f4" class="outline-4">
|
||||
<h4 id="org27750f4">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org27750f4">
|
||||
<div id="outline-container-org27bdc9d" class="outline-4">
|
||||
<h4 id="org27bdc9d">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org27bdc9d">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.actuators.Leq = dLi;
|
||||
</pre>
|
||||
@ -1322,9 +1375,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org624999a" class="outline-4">
|
||||
<h4 id="org624999a">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org624999a">
|
||||
<div id="outline-container-org2e93470" class="outline-4">
|
||||
<h4 id="org2e93470">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org2e93470">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalPlatforms</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms</span>
|
||||
@ -1358,9 +1411,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org04455cf" class="outline-4">
|
||||
<h4 id="org04455cf">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org04455cf">
|
||||
<div id="outline-container-org6be8c93" class="outline-4">
|
||||
<h4 id="org6be8c93">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org6be8c93">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1395,9 +1448,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc4a069e" class="outline-4">
|
||||
<h4 id="orgc4a069e">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orgc4a069e">
|
||||
<div id="outline-container-org275b596" class="outline-4">
|
||||
<h4 id="org275b596">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org275b596">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.platform_F.type = 1;
|
||||
|
||||
@ -1433,9 +1486,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org54faea9" class="outline-4">
|
||||
<h4 id="org54faea9">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org54faea9">
|
||||
<div id="outline-container-org910b23c" class="outline-4">
|
||||
<h4 id="org910b23c">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org910b23c">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalStruts</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts</span>
|
||||
@ -1468,9 +1521,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org054477a" class="outline-4">
|
||||
<h4 id="org054477a">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org054477a">
|
||||
<div id="outline-container-orgc7b5ecf" class="outline-4">
|
||||
<h4 id="orgc7b5ecf">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgc7b5ecf">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1518,9 +1571,9 @@ I_M = zeros(3, 3, 6); <span class="org-comment">% Inertia of the "mobile" part o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc660211" class="outline-4">
|
||||
<h4 id="orgc660211">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orgc660211">
|
||||
<div id="outline-container-org2265953" class="outline-4">
|
||||
<h4 id="org2265953">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org2265953">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.struts_M.type = 1;
|
||||
|
||||
@ -1556,9 +1609,9 @@ This Matlab function is accessible <a href="../src/initializeStrutDynamics.m">he
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6cad4f3" class="outline-4">
|
||||
<h4 id="org6cad4f3">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org6cad4f3">
|
||||
<div id="outline-container-orgeca3162" class="outline-4">
|
||||
<h4 id="orgeca3162">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-orgeca3162">
|
||||
|
||||
<div id="orgbbfb204" class="figure">
|
||||
<p><img src="figs/piezoelectric_stack.jpg" alt="piezoelectric_stack.jpg" width="500px" />
|
||||
@ -1587,9 +1640,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga9da482" class="outline-4">
|
||||
<h4 id="orga9da482">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orga9da482">
|
||||
<div id="outline-container-org165e5ee" class="outline-4">
|
||||
<h4 id="org165e5ee">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org165e5ee">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% initializeStrutDynamics - Add Stiffness and Damping properties of each strut</span>
|
||||
@ -1611,9 +1664,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd799057" class="outline-4">
|
||||
<h4 id="orgd799057">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgd799057">
|
||||
<div id="outline-container-org7b7ef5a" class="outline-4">
|
||||
<h4 id="org7b7ef5a">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org7b7ef5a">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1651,9 +1704,9 @@ This Matlab function is accessible <a href="../src/initializeAmplifiedStrutDynam
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6327083" class="outline-4">
|
||||
<h4 id="org6327083">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org6327083">
|
||||
<div id="outline-container-org475b126" class="outline-4">
|
||||
<h4 id="org475b126">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org475b126">
|
||||
<p>
|
||||
An amplified piezoelectric actuator is shown in Figure <a href="#org9e7e9ad">13</a>.
|
||||
</p>
|
||||
@ -1686,9 +1739,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgab64078" class="outline-4">
|
||||
<h4 id="orgab64078">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgab64078">
|
||||
<div id="outline-container-org5572f90" class="outline-4">
|
||||
<h4 id="org5572f90">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org5572f90">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeAmplifiedStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% initializeAmplifiedStrutDynamics - Add Stiffness and Damping properties of each strut</span>
|
||||
@ -1716,9 +1769,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8decfcb" class="outline-4">
|
||||
<h4 id="org8decfcb">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org8decfcb">
|
||||
<div id="outline-container-org9ba40d8" class="outline-4">
|
||||
<h4 id="org9ba40d8">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org9ba40d8">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1743,9 +1796,9 @@ C = args.Ca <span class="org-type">+</span> args.Cr;
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9043c25" class="outline-4">
|
||||
<h4 id="org9043c25">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org9043c25">
|
||||
<div id="outline-container-org6b1407f" class="outline-4">
|
||||
<h4 id="org6b1407f">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org6b1407f">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.actuators.type = 2;
|
||||
|
||||
@ -1775,9 +1828,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd451395" class="outline-4">
|
||||
<h4 id="orgd451395">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgd451395">
|
||||
<div id="outline-container-org0d226a1" class="outline-4">
|
||||
<h4 id="org0d226a1">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org0d226a1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeJointDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints</span>
|
||||
@ -1812,9 +1865,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6660cdc" class="outline-4">
|
||||
<h4 id="org6660cdc">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org6660cdc">
|
||||
<div id="outline-container-org00c4994" class="outline-4">
|
||||
<h4 id="org00c4994">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org00c4994">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -2014,9 +2067,9 @@ Note that there is trade-off between:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org57dd702" class="outline-4">
|
||||
<h4 id="org57dd702">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org57dd702">
|
||||
<div id="outline-container-orgce80e4a" class="outline-4">
|
||||
<h4 id="orgce80e4a">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgce80e4a">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeInertialSensor</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% initializeInertialSensor - Initialize the inertial sensor in each strut</span>
|
||||
@ -2042,9 +2095,9 @@ Note that there is trade-off between:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2a3d621" class="outline-4">
|
||||
<h4 id="org2a3d621">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org2a3d621">
|
||||
<div id="outline-container-org2fb047c" class="outline-4">
|
||||
<h4 id="org2fb047c">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org2fb047c">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -2085,9 +2138,9 @@ Note that there is trade-off between:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4c17df3" class="outline-4">
|
||||
<h4 id="org4c17df3">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org4c17df3">
|
||||
<div id="outline-container-org4a5435c" class="outline-4">
|
||||
<h4 id="org4a5435c">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org4a5435c">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.sensors.inertial = sensor;
|
||||
</pre>
|
||||
@ -2108,9 +2161,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga71445d" class="outline-4">
|
||||
<h4 id="orga71445d">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orga71445d">
|
||||
<div id="outline-container-org4c4b5ca" class="outline-4">
|
||||
<h4 id="org4c4b5ca">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org4c4b5ca">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">displayArchitecture</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
|
||||
<span class="org-comment">% displayArchitecture - 3D plot of the Stewart platform architecture</span>
|
||||
@ -2139,9 +2192,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0e4e463" class="outline-4">
|
||||
<h4 id="org0e4e463">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org0e4e463">
|
||||
<div id="outline-container-org981d1d1" class="outline-4">
|
||||
<h4 id="org981d1d1">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org981d1d1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -2162,9 +2215,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3789c70" class="outline-4">
|
||||
<h4 id="org3789c70">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-org3789c70">
|
||||
<div id="outline-container-org69a7a7b" class="outline-4">
|
||||
<h4 id="org69a7a7b">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-org69a7a7b">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">assert(isfield(stewart.platform_F, <span class="org-string">'FO_A'</span>), <span class="org-string">'stewart.platform_F should have attribute FO_A'</span>)
|
||||
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
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org3db8668" class="outline-3">
|
||||
<h3 id="org3db8668"><span class="section-number-3">5.13</span> <code>describeStewartPlatform</code>: Display some text describing the current defined Stewart Platform</h3>
|
||||
<div class="outline-text-3" id="text-5-13">
|
||||
<p>
|
||||
<a id="org6849838"></a>
|
||||
</p>
|
||||
|
||||
<p>
|
||||
This Matlab function is accessible <a href="../src/describeStewartPlatform.m">here</a>.
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgae455e2" class="outline-4">
|
||||
<h4 id="orgae455e2">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgae455e2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">describeStewartPlatform</span>(<span class="org-variable-name">stewart</span>)
|
||||
<span class="org-comment">% describeStewartPlatform - Display some text describing the current defined Stewart Platform</span>
|
||||
<span class="org-comment">%</span>
|
||||
<span class="org-comment">% Syntax: [] = describeStewartPlatform(args)</span>
|
||||
<span class="org-comment">%</span>
|
||||
<span class="org-comment">% Inputs:</span>
|
||||
<span class="org-comment">% - stewart</span>
|
||||
<span class="org-comment">%</span>
|
||||
<span class="org-comment">% Outputs:</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org134294b" class="outline-4">
|
||||
<h4 id="org134294b">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org134294b">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0ad0d00" class="outline-4">
|
||||
<h4 id="org0ad0d00"><span class="section-number-4">5.13.1</span> Geometry</h4>
|
||||
<div class="outline-text-4" id="text-5-13-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'GEOMETRY:\n'</span>)
|
||||
fprintf(<span class="org-string">'- The height between the fixed based and the top platform is %.3g [mm].\n'</span>, 1e3<span class="org-type">*</span>stewart.geometry.H)
|
||||
|
||||
<span class="org-keyword">if</span> stewart.platform_M.MO_B(3) <span class="org-type">></span> 0
|
||||
fprintf(<span class="org-string">'- Frame {A} is located %.3g [mm] above the top platform.\n'</span>, 1e3<span class="org-type">*</span>stewart.platform_M.MO_B(3))
|
||||
<span class="org-keyword">else</span>
|
||||
fprintf(<span class="org-string">'- Frame {A} is located %.3g [mm] below the top platform.\n'</span>, <span class="org-type">-</span> 1e3<span class="org-type">*</span>stewart.platform_M.MO_B(3))
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
fprintf(<span class="org-string">'- The initial length of the struts are:\n'</span>)
|
||||
fprintf(<span class="org-string">'\t %.3g, %.3g, %.3g, %.3g, %.3g, %.3g [mm]\n'</span>, 1e3<span class="org-type">*</span>stewart.geometry.l)
|
||||
fprintf(<span class="org-string">'\n'</span>)
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3d00e31" class="outline-4">
|
||||
<h4 id="org3d00e31"><span class="section-number-4">5.13.2</span> Actuators</h4>
|
||||
<div class="outline-text-4" id="text-5-13-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'ACTUATORS:\n'</span>)
|
||||
<span class="org-keyword">if</span> stewart.actuators.type <span class="org-type">==</span> 1
|
||||
fprintf(<span class="org-string">'- The actuators are classical.\n'</span>)
|
||||
fprintf(<span class="org-string">'- The Stiffness and Damping of each actuators is:\n'</span>)
|
||||
fprintf(<span class="org-string">'\t k = %.0e [N/m] \t c = %.0e [N/(m/s)]\n'</span>, stewart.actuators.K(1), stewart.actuators.C(1))
|
||||
<span class="org-keyword">elseif</span> stewart.actuators.type <span class="org-type">==</span> 2
|
||||
fprintf(<span class="org-string">'- The actuators are mechanicaly amplified.\n'</span>)
|
||||
fprintf(<span class="org-string">'- The vertical stiffness and damping contribution of the piezoelectric stack is:\n'</span>)
|
||||
fprintf(<span class="org-string">'\t ka = %.0e [N/m] \t ca = %.0e [N/(m/s)]\n'</span>, stewart.actuators.Ka(1), stewart.actuators.Ca(1))
|
||||
fprintf(<span class="org-string">'- Vertical stiffness when the piezoelectric stack is removed is:\n'</span>)
|
||||
fprintf(<span class="org-string">'\t kr = %.0e [N/m] \t cr = %.0e [N/(m/s)]\n'</span>, stewart.actuators.Kr(1), stewart.actuators.Cr(1))
|
||||
<span class="org-keyword">end</span>
|
||||
fprintf(<span class="org-string">'\n'</span>)
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0933fe4" class="outline-4">
|
||||
<h4 id="org0933fe4"><span class="section-number-4">5.13.3</span> Joints</h4>
|
||||
<div class="outline-text-4" id="text-5-13-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'JOINTS:\n'</span>)
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Type of the joints on the fixed base.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">stewart.joints_F.type</span>
|
||||
<span class="org-keyword">case</span> <span class="org-constant">1</span>
|
||||
fprintf(<span class="org-string">'- The joints on the fixed based are universal joints\n'</span>)
|
||||
<span class="org-keyword">case</span> <span class="org-constant">2</span>
|
||||
fprintf(<span class="org-string">'- The joints on the fixed based are spherical joints\n'</span>)
|
||||
<span class="org-keyword">case</span> <span class="org-constant">3</span>
|
||||
fprintf(<span class="org-string">'- The joints on the fixed based are perfect universal joints\n'</span>)
|
||||
<span class="org-keyword">case</span> <span class="org-constant">4</span>
|
||||
fprintf(<span class="org-string">'- The joints on the fixed based are perfect spherical joints\n'</span>)
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Type of the joints on the mobile platform.
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">stewart.joints_M.type</span>
|
||||
<span class="org-keyword">case</span> <span class="org-constant">1</span>
|
||||
fprintf(<span class="org-string">'- The joints on the mobile based are universal joints\n'</span>)
|
||||
<span class="org-keyword">case</span> <span class="org-constant">2</span>
|
||||
fprintf(<span class="org-string">'- The joints on the mobile based are spherical joints\n'</span>)
|
||||
<span class="org-keyword">case</span> <span class="org-constant">3</span>
|
||||
fprintf(<span class="org-string">'- The joints on the mobile based are perfect universal joints\n'</span>)
|
||||
<span class="org-keyword">case</span> <span class="org-constant">4</span>
|
||||
fprintf(<span class="org-string">'- The joints on the mobile based are perfect spherical joints\n'</span>)
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Position of the fixed joints
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n'</span>)
|
||||
fprintf(<span class="org-string">'\t % .3g \t % .3g \t % .3g\n'</span>, 1e3<span class="org-type">*</span>stewart.platform_F.Fa)
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Position of the mobile joints
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'- The position of the joints on the mobile based with respect to {M} are (in [mm]):\n'</span>)
|
||||
fprintf(<span class="org-string">'\t % .3g \t % .3g \t % .3g\n'</span>, 1e3<span class="org-type">*</span>stewart.platform_M.Mb)
|
||||
fprintf(<span class="org-string">'\n'</span>)
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7f9d11e" class="outline-4">
|
||||
<h4 id="org7f9d11e"><span class="section-number-4">5.13.4</span> Kinematics</h4>
|
||||
<div class="outline-text-4" id="text-5-13-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">fprintf(<span class="org-string">'KINEMATICS:\n'</span>)
|
||||
|
||||
<span class="org-keyword">if</span> isfield(stewart.kinematics, <span class="org-string">'K'</span>)
|
||||
fprintf(<span class="org-string">'- The Stiffness matrix K is (in [N/m]):\n'</span>)
|
||||
fprintf(<span class="org-string">'\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n'</span>, stewart.kinematics.K)
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
<span class="org-keyword">if</span> isfield(stewart.kinematics, <span class="org-string">'C'</span>)
|
||||
fprintf(<span class="org-string">'- The Damping matrix C is (in [m/N]):\n'</span>)
|
||||
fprintf(<span class="org-string">'\t % .0e \t % .0e \t % .0e \t % .0e \t % .0e \t % .0e\n'</span>, stewart.kinematics.C)
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
|
||||
@ -2500,7 +2722,7 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-03-02 lun. 17:57</p>
|
||||
<p class="date">Created: 2020-03-13 ven. 10:05</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -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 | | | | | | | | | | |
|
||||
|
||||
|
||||
@ -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
|
||||
<<sec: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:
|
||||
<<sec:describeStewartPlatform>>
|
||||
|
||||
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
|
||||
|
||||
83
src/describeStewartPlatform.m
Normal file
83
src/describeStewartPlatform.m
Normal file
@ -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
|
||||
@ -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:
|
||||
|
||||
Loading…
Reference in New Issue
Block a user