-
-
- 1.1. Flexible APA +
- 1.1. Flexible APA
- 1.2. Flexible Joint
- 1.3. Identification
- 1.4. No Flexible Elements
- 1.5. Flexible joints -
- 1.6. Flexible APA +
- 1.6. Flexible APA
- 1.7. Flexible Joints and APA
- 1.8. Direct Velocity Feedback
- 1.9. Integral Force Feedback @@ -47,8 +47,8 @@
1 Simscape Model
-
1.1 Flexible APA
+
+
@@ -343,6 +342,8 @@ stewart = initializeCylindricalStruts(stewart);
stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart);
+
+references = initializeReferences(stewart);
@@ -359,6 +360,13 @@ G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3', '
1.1 Flexible APA
apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
@@ -321,7 +321,6 @@ controller = initializeController('type', 'open-loop');
disturbances = initializeDisturbances();
-references = initializeReferences(stewart);
1.5 Flexible joints
+
+
-
+
+
+
Figure 1: Figure caption
+stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
@@ -384,9 +392,16 @@ Gj.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
-
1.6 Flexible APA
+
+
1.6 Flexible APA
+
+
@@ -466,7 +488,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
+
+
+
Figure 2: Figure caption
+stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
@@ -415,6 +430,13 @@ Ga.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
1.7 Flexible Joints and APA
+
+
+
+
+Figure 3: Figure caption
+
+
stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
@@ -446,7 +468,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
-Figure 1: Change of the DVF plant dynamics with the added flexible elements
+Figure 4: Change of the DVF plant dynamics with the added flexible elements
@@ -458,7 +480,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
-Figure 2: Change of the IFF plant dynamics with the added flexible elements
+Figure 5: Change of the IFF plant dynamics with the added flexible elements
-
diff --git a/org/flexible-stewart-platform.org b/org/flexible-stewart-platform.org
index c4bbd0a..5b1c17e 100644
--- a/org/flexible-stewart-platform.org
+++ b/org/flexible-stewart-platform.org
@@ -146,7 +146,6 @@ And we identify the dynamics from force actuators to force sensors.
#+begin_src matlab
disturbances = initializeDisturbances();
- references = initializeReferences(stewart);
#+end_src
** No Flexible Elements
@@ -163,6 +162,8 @@ And we identify the dynamics from force actuators to force sensors.
stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart);
+
+ references = initializeReferences(stewart);
#+end_src
#+begin_src matlab
@@ -173,6 +174,11 @@ And we identify the dynamics from force actuators to force sensors.
#+end_src
** Flexible joints
+
+#+name: fig:simscape_flex_joints
+#+caption: Figure caption
+[[file:figs/simscape_flex_joints.png]]
+
#+begin_src matlab
stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
@@ -195,6 +201,11 @@ And we identify the dynamics from force actuators to force sensors.
#+end_src
** Flexible APA
+
+#+name: fig:simscape_flex_apa
+#+caption: Figure caption
+[[file:figs/simscape_flex_apa.png]]
+
#+begin_src matlab
stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
@@ -217,6 +228,11 @@ And we identify the dynamics from force actuators to force sensors.
#+end_src
** Flexible Joints and APA
+
+#+name: fig:simscape_flexible
+#+caption: Figure caption
+[[file:figs/simscape_flexible.png]]
+
#+begin_src matlab
stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
Created: 2020-08-05 mer. 13:27
+Created: 2020-08-07 ven. 09:55