Add picture of flexible platform
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docs/figs/simscape_flex_apa.png
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docs/figs/simscape_flex_joints.png
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@ -3,7 +3,7 @@
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<head>
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<!-- 2020-08-05 mer. 13:27 -->
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<!-- 2020-08-07 ven. 09:55 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Stewart Platform with Flexible Elements</title>
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<title>Stewart Platform with Flexible Elements</title>
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<meta name="generator" content="Org mode" />
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<meta name="generator" content="Org mode" />
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@ -28,12 +28,12 @@
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<ul>
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<ul>
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<li><a href="#orgbdb2a68">1. Simscape Model</a>
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<li><a href="#orgbdb2a68">1. Simscape Model</a>
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<ul>
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<ul>
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<li><a href="#org6768ff7">1.1. Flexible APA</a></li>
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<li><a href="#orgd80e541">1.1. Flexible APA</a></li>
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<li><a href="#org3650a90">1.2. Flexible Joint</a></li>
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<li><a href="#org3650a90">1.2. Flexible Joint</a></li>
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<li><a href="#org75c496c">1.3. Identification</a></li>
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<li><a href="#org75c496c">1.3. Identification</a></li>
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<li><a href="#org52d500c">1.4. No Flexible Elements</a></li>
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<li><a href="#org52d500c">1.4. No Flexible Elements</a></li>
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<li><a href="#org6800cf5">1.5. Flexible joints</a></li>
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<li><a href="#org6800cf5">1.5. Flexible joints</a></li>
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<li><a href="#orgd80e541">1.6. Flexible APA</a></li>
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<li><a href="#org1a0f3d5">1.6. Flexible APA</a></li>
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<li><a href="#org1609aa1">1.7. Flexible Joints and APA</a></li>
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<li><a href="#org1609aa1">1.7. Flexible Joints and APA</a></li>
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<li><a href="#orge9b9e81">1.8. Direct Velocity Feedback</a></li>
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<li><a href="#orge9b9e81">1.8. Direct Velocity Feedback</a></li>
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<li><a href="#org265a0a3">1.9. Integral Force Feedback</a></li>
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<li><a href="#org265a0a3">1.9. Integral Force Feedback</a></li>
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@ -47,8 +47,8 @@
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<h2 id="orgbdb2a68"><span class="section-number-2">1</span> Simscape Model</h2>
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<h2 id="orgbdb2a68"><span class="section-number-2">1</span> Simscape Model</h2>
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<div class="outline-text-2" id="text-1">
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<div class="outline-text-2" id="text-1">
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</div>
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</div>
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<div id="outline-container-org6768ff7" class="outline-3">
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<div id="outline-container-orgd80e541" class="outline-3">
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<h3 id="org6768ff7"><span class="section-number-3">1.1</span> Flexible APA</h3>
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<h3 id="orgd80e541"><span class="section-number-3">1.1</span> Flexible APA</h3>
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<div class="outline-text-3" id="text-1-1">
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<div class="outline-text-3" id="text-1-1">
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<div class="org-src-container">
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<div class="org-src-container">
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<pre class="src src-matlab">apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
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<pre class="src src-matlab">apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
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@ -321,7 +321,6 @@ controller = initializeController('type', 'open-loop');
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<div class="org-src-container">
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<div class="org-src-container">
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<pre class="src src-matlab">disturbances = initializeDisturbances();
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<pre class="src src-matlab">disturbances = initializeDisturbances();
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references = initializeReferences(stewart);
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</pre>
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</pre>
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</div>
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</div>
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</div>
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</div>
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@ -343,6 +342,8 @@ stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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stewart = initializeStewartPose(stewart);
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stewart = initializeInertialSensor(stewart);
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stewart = initializeInertialSensor(stewart);
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references = initializeReferences(stewart);
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</pre>
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</pre>
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</div>
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</div>
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@ -359,6 +360,13 @@ G.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3', '
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<div id="outline-container-org6800cf5" class="outline-3">
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<div id="outline-container-org6800cf5" class="outline-3">
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<h3 id="org6800cf5"><span class="section-number-3">1.5</span> Flexible joints</h3>
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<h3 id="org6800cf5"><span class="section-number-3">1.5</span> Flexible joints</h3>
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<div class="outline-text-3" id="text-1-5">
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<div class="outline-text-3" id="text-1-5">
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<div id="orga4a49db" class="figure">
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<p><img src="figs/simscape_flex_joints.png" alt="simscape_flex_joints.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Figure caption</p>
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</div>
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<div class="org-src-container">
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<div class="org-src-container">
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart);
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stewart = initializeFramesPositions(stewart);
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@ -384,9 +392,16 @@ Gj.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-orgd80e541" class="outline-3">
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<div id="outline-container-org1a0f3d5" class="outline-3">
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<h3 id="orgd80e541"><span class="section-number-3">1.6</span> Flexible APA</h3>
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<h3 id="org1a0f3d5"><span class="section-number-3">1.6</span> Flexible APA</h3>
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<div class="outline-text-3" id="text-1-6">
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<div class="outline-text-3" id="text-1-6">
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<div id="org774a034" class="figure">
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<p><img src="figs/simscape_flex_apa.png" alt="simscape_flex_apa.png" />
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</p>
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<p><span class="figure-number">Figure 2: </span>Figure caption</p>
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</div>
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<div class="org-src-container">
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<div class="org-src-container">
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart);
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stewart = initializeFramesPositions(stewart);
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@ -415,6 +430,13 @@ Ga.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
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<div id="outline-container-org1609aa1" class="outline-3">
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<div id="outline-container-org1609aa1" class="outline-3">
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<h3 id="org1609aa1"><span class="section-number-3">1.7</span> Flexible Joints and APA</h3>
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<h3 id="org1609aa1"><span class="section-number-3">1.7</span> Flexible Joints and APA</h3>
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<div class="outline-text-3" id="text-1-7">
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<div class="outline-text-3" id="text-1-7">
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<div id="orga828b5f" class="figure">
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<p><img src="figs/simscape_flexible.png" alt="simscape_flexible.png" />
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</p>
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<p><span class="figure-number">Figure 3: </span>Figure caption</p>
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</div>
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<div class="org-src-container">
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<div class="org-src-container">
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart);
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stewart = initializeFramesPositions(stewart);
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@ -446,7 +468,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
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<div id="org2d35259" class="figure">
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<div id="org2d35259" class="figure">
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<p><img src="figs/flexible_elements_effect_dvf.png" alt="flexible_elements_effect_dvf.png" />
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<p><img src="figs/flexible_elements_effect_dvf.png" alt="flexible_elements_effect_dvf.png" />
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</p>
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</p>
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<p><span class="figure-number">Figure 1: </span>Change of the DVF plant dynamics with the added flexible elements</p>
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<p><span class="figure-number">Figure 4: </span>Change of the DVF plant dynamics with the added flexible elements</p>
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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@ -458,7 +480,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
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<div id="org81cc646" class="figure">
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<div id="org81cc646" class="figure">
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<p><img src="figs/flexible_elements_effect_iff.png" alt="flexible_elements_effect_iff.png" />
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<p><img src="figs/flexible_elements_effect_iff.png" alt="flexible_elements_effect_iff.png" />
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</p>
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</p>
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<p><span class="figure-number">Figure 2: </span>Change of the IFF plant dynamics with the added flexible elements</p>
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<p><span class="figure-number">Figure 5: </span>Change of the IFF plant dynamics with the added flexible elements</p>
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</div>
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</div>
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</div>
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</div>
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</div>
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</div>
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@ -466,7 +488,7 @@ Gf.OutputName = {'Dm1', 'Dm2', 'Dm3', 'Dm4', 'Dm5', 'Dm6', 'Fm1', 'Fm2', 'Fm3',
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</div>
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</div>
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<div id="postamble" class="status">
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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="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2020-08-05 mer. 13:27</p>
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<p class="date">Created: 2020-08-07 ven. 09:55</p>
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</div>
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</div>
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</body>
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</body>
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</html>
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</html>
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@ -146,7 +146,6 @@ And we identify the dynamics from force actuators to force sensors.
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#+begin_src matlab
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#+begin_src matlab
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disturbances = initializeDisturbances();
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disturbances = initializeDisturbances();
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references = initializeReferences(stewart);
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#+end_src
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#+end_src
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** No Flexible Elements
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** No Flexible Elements
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@ -163,6 +162,8 @@ And we identify the dynamics from force actuators to force sensors.
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stewart = computeJacobian(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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stewart = initializeStewartPose(stewart);
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stewart = initializeInertialSensor(stewart);
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stewart = initializeInertialSensor(stewart);
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references = initializeReferences(stewart);
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#+end_src
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#+end_src
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#+begin_src matlab
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#+begin_src matlab
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@ -173,6 +174,11 @@ And we identify the dynamics from force actuators to force sensors.
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#+end_src
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#+end_src
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** Flexible joints
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** Flexible joints
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#+name: fig:simscape_flex_joints
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#+caption: Figure caption
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[[file:figs/simscape_flex_joints.png]]
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#+begin_src matlab
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart);
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stewart = initializeFramesPositions(stewart);
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@ -195,6 +201,11 @@ And we identify the dynamics from force actuators to force sensors.
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#+end_src
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#+end_src
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** Flexible APA
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** Flexible APA
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#+name: fig:simscape_flex_apa
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#+caption: Figure caption
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[[file:figs/simscape_flex_apa.png]]
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#+begin_src matlab
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart);
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stewart = initializeFramesPositions(stewart);
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@ -217,6 +228,11 @@ And we identify the dynamics from force actuators to force sensors.
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#+end_src
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#+end_src
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** Flexible Joints and APA
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** Flexible Joints and APA
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#+name: fig:simscape_flexible
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#+caption: Figure caption
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[[file:figs/simscape_flexible.png]]
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#+begin_src matlab
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#+begin_src matlab
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stewart = initializeStewartPlatform();
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart);
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stewart = initializeFramesPositions(stewart);
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