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literal 0 HcmV?d00001 diff --git a/docs/flexible-stewart-platform.html b/docs/flexible-stewart-platform.html index f2da633..23d2ccb 100644 --- a/docs/flexible-stewart-platform.html +++ b/docs/flexible-stewart-platform.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platform with Flexible Elements @@ -28,12 +28,12 @@

  • 1. Simscape Model
      -
    • 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

      +
      +

      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);
       
      @@ -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', '

      1.5 Flexible joints

      + +
      +

      simscape_flex_joints.png +

      +

      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

      + +
      +

      simscape_flex_apa.png +

      +

      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

      + +
      +

      simscape_flexible.png +

      +

      Figure 3: Figure caption

      +
      +
      stewart = initializeStewartPlatform();
       stewart = initializeFramesPositions(stewart);
      @@ -446,7 +468,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
       

      flexible_elements_effect_dvf.png

      -

      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',

      flexible_elements_effect_iff.png

      -

      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

      @@ -466,7 +488,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',

      Author: Dehaeze Thomas

      -

      Created: 2020-08-05 mer. 13:27

      +

      Created: 2020-08-07 ven. 09:55

      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);