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Add picture of flexible platform

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Thomas Dehaeze 2020-08-07 09:56:49 +02:00
parent 009481ff75
commit 1fd35e9449
5 changed files with 50 additions and 12 deletions
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docs/flexible-stewart-platform.html
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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2020-08-05 mer. 13:27 --> <!-- 2020-08-07 ven. 09:55 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Stewart Platform with Flexible Elements</title> <title>Stewart Platform with Flexible Elements</title>
<meta name="generator" content="Org mode" /> <meta name="generator" content="Org mode" />
@ -28,12 +28,12 @@
<ul> <ul>
<li><a href="#orgbdb2a68">1. Simscape Model</a> <li><a href="#orgbdb2a68">1. Simscape Model</a>
<ul> <ul>
<li><a href="#org6768ff7">1.1. Flexible APA</a></li> <li><a href="#orgd80e541">1.1. Flexible APA</a></li>
<li><a href="#org3650a90">1.2. Flexible Joint</a></li> <li><a href="#org3650a90">1.2. Flexible Joint</a></li>
<li><a href="#org75c496c">1.3. Identification</a></li> <li><a href="#org75c496c">1.3. Identification</a></li>
<li><a href="#org52d500c">1.4. No Flexible Elements</a></li> <li><a href="#org52d500c">1.4. No Flexible Elements</a></li>
<li><a href="#org6800cf5">1.5. Flexible joints</a></li> <li><a href="#org6800cf5">1.5. Flexible joints</a></li>
<li><a href="#orgd80e541">1.6. Flexible APA</a></li> <li><a href="#org1a0f3d5">1.6. Flexible APA</a></li>
<li><a href="#org1609aa1">1.7. Flexible Joints and APA</a></li> <li><a href="#org1609aa1">1.7. Flexible Joints and APA</a></li>
<li><a href="#orge9b9e81">1.8. Direct Velocity Feedback</a></li> <li><a href="#orge9b9e81">1.8. Direct Velocity Feedback</a></li>
<li><a href="#org265a0a3">1.9. Integral Force Feedback</a></li> <li><a href="#org265a0a3">1.9. Integral Force Feedback</a></li>
@ -47,8 +47,8 @@
<h2 id="orgbdb2a68"><span class="section-number-2">1</span> Simscape Model</h2> <h2 id="orgbdb2a68"><span class="section-number-2">1</span> Simscape Model</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
</div> </div>
<div id="outline-container-org6768ff7" class="outline-3"> <div id="outline-container-orgd80e541" class="outline-3">
<h3 id="org6768ff7"><span class="section-number-3">1.1</span> Flexible APA</h3> <h3 id="orgd80e541"><span class="section-number-3">1.1</span> Flexible APA</h3>
<div class="outline-text-3" id="text-1-1"> <div class="outline-text-3" id="text-1-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K'); <pre class="src src-matlab">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');
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">disturbances = initializeDisturbances(); <pre class="src src-matlab">disturbances = initializeDisturbances();
references = initializeReferences(stewart);
</pre> </pre>
</div> </div>
</div> </div>
@ -343,6 +342,8 @@ stewart = initializeCylindricalStruts(stewart);
stewart = computeJacobian(stewart); stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart); stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart); stewart = initializeInertialSensor(stewart);
references = initializeReferences(stewart);
</pre> </pre>
</div> </div>
@ -359,6 +360,13 @@ G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3', '
<div id="outline-container-org6800cf5" class="outline-3"> <div id="outline-container-org6800cf5" class="outline-3">
<h3 id="org6800cf5"><span class="section-number-3">1.5</span> Flexible joints</h3> <h3 id="org6800cf5"><span class="section-number-3">1.5</span> Flexible joints</h3>
<div class="outline-text-3" id="text-1-5"> <div class="outline-text-3" id="text-1-5">
<div id="orga4a49db" class="figure">
<p><img src="figs/simscape_flex_joints.png" alt="simscape_flex_joints.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Figure caption</p>
</div>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">stewart = initializeStewartPlatform(); <pre class="src src-matlab">stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart); stewart = initializeFramesPositions(stewart);
@ -384,9 +392,16 @@ Gj.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
</div> </div>
</div> </div>
<div id="outline-container-orgd80e541" class="outline-3"> <div id="outline-container-org1a0f3d5" class="outline-3">
<h3 id="orgd80e541"><span class="section-number-3">1.6</span> Flexible APA</h3> <h3 id="org1a0f3d5"><span class="section-number-3">1.6</span> Flexible APA</h3>
<div class="outline-text-3" id="text-1-6"> <div class="outline-text-3" id="text-1-6">
<div id="org774a034" class="figure">
<p><img src="figs/simscape_flex_apa.png" alt="simscape_flex_apa.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Figure caption</p>
</div>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">stewart = initializeStewartPlatform(); <pre class="src src-matlab">stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart); stewart = initializeFramesPositions(stewart);
@ -415,6 +430,13 @@ Ga.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
<div id="outline-container-org1609aa1" class="outline-3"> <div id="outline-container-org1609aa1" class="outline-3">
<h3 id="org1609aa1"><span class="section-number-3">1.7</span> Flexible Joints and APA</h3> <h3 id="org1609aa1"><span class="section-number-3">1.7</span> Flexible Joints and APA</h3>
<div class="outline-text-3" id="text-1-7"> <div class="outline-text-3" id="text-1-7">
<div id="orga828b5f" class="figure">
<p><img src="figs/simscape_flexible.png" alt="simscape_flexible.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Figure caption</p>
</div>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">stewart = initializeStewartPlatform(); <pre class="src src-matlab">stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart); stewart = initializeFramesPositions(stewart);
@ -446,7 +468,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
<div id="org2d35259" class="figure"> <div id="org2d35259" class="figure">
<p><img src="figs/flexible_elements_effect_dvf.png" alt="flexible_elements_effect_dvf.png" /> <p><img src="figs/flexible_elements_effect_dvf.png" alt="flexible_elements_effect_dvf.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Change of the DVF plant dynamics with the added flexible elements</p> <p><span class="figure-number">Figure 4: </span>Change of the DVF plant dynamics with the added flexible elements</p>
</div> </div>
</div> </div>
</div> </div>
@ -458,7 +480,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
<div id="org81cc646" class="figure"> <div id="org81cc646" class="figure">
<p><img src="figs/flexible_elements_effect_iff.png" alt="flexible_elements_effect_iff.png" /> <p><img src="figs/flexible_elements_effect_iff.png" alt="flexible_elements_effect_iff.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Change of the IFF plant dynamics with the added flexible elements</p> <p><span class="figure-number">Figure 5: </span>Change of the IFF plant dynamics with the added flexible elements</p>
</div> </div>
</div> </div>
</div> </div>
@ -466,7 +488,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-08-05 mer. 13:27</p> <p class="date">Created: 2020-08-07 ven. 09:55</p>
</div> </div>
</body> </body>
</html> </html>

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org/flexible-stewart-platform.org
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@ -146,7 +146,6 @@ And we identify the dynamics from force actuators to force sensors.
#+begin_src matlab #+begin_src matlab
disturbances = initializeDisturbances(); disturbances = initializeDisturbances();
references = initializeReferences(stewart);
#+end_src #+end_src
** No Flexible Elements ** No Flexible Elements
@ -163,6 +162,8 @@ And we identify the dynamics from force actuators to force sensors.
stewart = computeJacobian(stewart); stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart); stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart); stewart = initializeInertialSensor(stewart);
references = initializeReferences(stewart);
#+end_src #+end_src
#+begin_src matlab #+begin_src matlab
@ -173,6 +174,11 @@ And we identify the dynamics from force actuators to force sensors.
#+end_src #+end_src
** Flexible joints ** Flexible joints
#+name: fig:simscape_flex_joints
#+caption: Figure caption
[[file:figs/simscape_flex_joints.png]]
#+begin_src matlab #+begin_src matlab
stewart = initializeStewartPlatform(); stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart); stewart = initializeFramesPositions(stewart);
@ -195,6 +201,11 @@ And we identify the dynamics from force actuators to force sensors.
#+end_src #+end_src
** Flexible APA ** Flexible APA
#+name: fig:simscape_flex_apa
#+caption: Figure caption
[[file:figs/simscape_flex_apa.png]]
#+begin_src matlab #+begin_src matlab
stewart = initializeStewartPlatform(); stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart); stewart = initializeFramesPositions(stewart);
@ -217,6 +228,11 @@ And we identify the dynamics from force actuators to force sensors.
#+end_src #+end_src
** Flexible Joints and APA ** Flexible Joints and APA
#+name: fig:simscape_flexible
#+caption: Figure caption
[[file:figs/simscape_flexible.png]]
#+begin_src matlab #+begin_src matlab
stewart = initializeStewartPlatform(); stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart); stewart = initializeFramesPositions(stewart);