From 2082bbd580e691417daa07bb8caaf629b819e4b2 Mon Sep 17 00:00:00 2001
From: Thomas Dehaeze <dehaeze.thomas@gmail.com>
Date: Tue, 11 Feb 2020 15:21:39 +0100
Subject: [PATCH] Update initialization

---
 active-damping.org                  |  13 +++++----
 control-study.org                   |   3 +-
 cubic-configuration.org             |  43 +++++++++++++++++++++-------
 dynamics-study.org                  |  12 +++++---
 identification.org                  |   9 ++++--
 kinematic-study.org                 |   9 ++++--
 simscape-model.org                  |   1 +
 simulink/stewart_active_damping.slx | Bin 35478 -> 36051 bytes
 8 files changed, 64 insertions(+), 26 deletions(-)

diff --git a/active-damping.org b/active-damping.org
index 027790a..854f5c8 100644
--- a/active-damping.org
+++ b/active-damping.org
@@ -21,7 +21,6 @@
 :END:
 
 * Introduction                                                        :ignore:
-
 The following decentralized active damping techniques are briefly studied:
 - Inertial Control (proportional feedback of the absolute velocity): Section [[sec:active_damping_inertial]]
 - Integral Force Feedback: Section [[sec:active_damping_iff]]
@@ -54,7 +53,8 @@ The following decentralized active damping techniques are briefly studied:
 
 ** Identification of the Dynamics
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
@@ -283,10 +283,12 @@ The root locus is shown in figure [[fig:root_locus_inertial_rot_stiffness]] and
 ** Identification of the Dynamics with perfect Joints
 We first initialize the Stewart platform without joint stiffness.
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
+  stewart = initializeAmplifiedStrutDynamics(stewart);
   stewart = initializeJointDynamics(stewart, 'disable', true);
   stewart = initializeCylindricalPlatforms(stewart);
   stewart = initializeCylindricalStruts(stewart);
@@ -316,7 +318,7 @@ And we identify the dynamics from force actuators to force sensors.
 
 The transfer function from actuator forces to force sensors is shown in Figure [[fig:iff_plant_coupling]].
 #+begin_src matlab :exports none
-  freqs = logspace(1, 3, 1000);
+  freqs = logspace(1, 4, 1000);
 
   figure;
 
@@ -514,7 +516,8 @@ The root locus is shown in figure [[fig:root_locus_iff_rot_stiffness]] and the o
 ** Identification of the Dynamics with perfect Joints
 We first initialize the Stewart platform without joint stiffness.
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
diff --git a/control-study.org b/control-study.org
index 547cbdc..561cb13 100644
--- a/control-study.org
+++ b/control-study.org
@@ -69,7 +69,8 @@
 
 ** Initialize the Stewart platform
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
diff --git a/cubic-configuration.org b/cubic-configuration.org
index a051463..28b09fa 100644
--- a/cubic-configuration.org
+++ b/cubic-configuration.org
@@ -56,7 +56,8 @@ We create a cubic Stewart platform (figure [[fig:3d-cubic-stewart-aligned]]) in
 The Jacobian matrix is estimated at the location of the center of the cube.
 
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 100e-3, 'MO_B', -50e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 100e-3, 'MO_B', -50e-3);
   stewart = generateCubicConfiguration(stewart, 'Hc', 100e-3, 'FOc', 50e-3, 'FHa', 0, 'MHb', 0);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart, 'Ki', ones(6,1));
@@ -99,7 +100,8 @@ We create a cubic Stewart platform with center of the cube located at the center
 The Jacobian matrix is not estimated at the location of the center of the cube.
 
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 100e-3, 'MO_B', 0);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 100e-3, 'MO_B', 0);
   stewart = generateCubicConfiguration(stewart, 'Hc', 100e-3, 'FOc', 50e-3, 'FHa', 0, 'MHb', 0);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart, 'Ki', ones(6,1));
@@ -142,7 +144,8 @@ The Jacobian is estimated at the cube center.
 [[file:./figs/3d-cubic-stewart-misaligned.png]]
 
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 80e-3, 'MO_B', -40e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 80e-3, 'MO_B', -40e-3);
   stewart = generateCubicConfiguration(stewart, 'Hc', 100e-3, 'FOc', 50e-3, 'FHa', 0, 'MHb', 0);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart, 'Ki', ones(6,1));
@@ -188,7 +191,8 @@ The center height of the Stewart platform is then at $z = \frac{175-75}{2} = 50$
 The center of the cube from the top platform is at $z = 110 - 175 = -65$.
 
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 80e-3, 'MO_B', -40e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 80e-3, 'MO_B', -40e-3);
   stewart = generateCubicConfiguration(stewart, 'Hc', 100e-3, 'FOc', 50e-3, 'FHa', 0, 'MHb', 0);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart, 'Ki', ones(6,1));
@@ -237,7 +241,8 @@ This is possible, to do so:
   It is possible to have small cube, but then to configuration is a little bit strange.
 
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 100e-3, 'MO_B', 50e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 100e-3, 'MO_B', 50e-3);
   FOc = stewart.H + stewart.MO_B(3);
   Hc = 2*(stewart.H + stewart.MO_B(3));
   stewart = generateCubicConfiguration(stewart, 'Hc', Hc, 'FOc', FOc, 'FHa', 10e-3, 'MHb', 10e-3);
@@ -368,7 +373,7 @@ This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here
   %
   % Inputs:
   %    - stewart - A structure with the following fields
-  %        - H   [1x1] - Total height of the platform [m]
+  %        - geometry.H [1x1] - Total height of the platform [m]
   %    - args - Can have the following fields:
   %        - Hc  [1x1] - Height of the "useful" part of the cube [m]
   %        - FOc [1x1] - Height of the center of the cube with respect to {F} [m]
@@ -377,8 +382,8 @@ This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here
   %
   % Outputs:
   %    - stewart - updated Stewart structure with the added fields:
-  %        - Fa  [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
-  %        - Mb  [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
+  %        - platform_F.Fa  [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
+  %        - platform_M.Mb  [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
 #+end_src
 
 *** Documentation
@@ -403,6 +408,15 @@ This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here
   end
 #+end_src
 
+*** Check the =stewart= structure elements
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  assert(isfield(stewart.geometry, 'H'),   'stewart.geometry should have attribute H')
+  H = stewart.geometry.H;
+#+end_src
+
 *** Position of the Cube
 :PROPERTIES:
 :UNNUMBERED: t
@@ -437,8 +451,17 @@ We can compute the vector of each leg ${}^{C}\hat{\bm{s}}_{i}$ (unit vector from
 
 We now which to compute the position of the joints $a_{i}$ and $b_{i}$.
 #+begin_src matlab
-  stewart.Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
-  stewart.Mb = CCf + [0; 0; args.FOc-stewart.H] + ((stewart.H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
+  Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
+  Mb = CCf + [0; 0; args.FOc-H] + ((H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
+#+end_src
+
+*** Populate the =stewart= structure
+:PROPERTIES:
+:UNNUMBERED: t
+:END:
+#+begin_src matlab
+  stewart.platform_F.Fa = Fa;
+  stewart.platform_M.Mb = Mb;
 #+end_src
 
 * Bibliography                                                        :ignore:
diff --git a/dynamics-study.org b/dynamics-study.org
index cde371d..ea988cb 100644
--- a/dynamics-study.org
+++ b/dynamics-study.org
@@ -41,7 +41,8 @@
 
 ** test
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
@@ -129,7 +130,8 @@ Estimation of the transfer function from $\mathcal{\bm{F}}$ to $\mathcal{\bm{X}}
 ** Compare external forces and forces applied by the actuators
 Initialization of the Stewart platform.
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
@@ -194,7 +196,8 @@ Seems quite similar.
 ** Comparison of the static transfer function and the Compliance matrix
 Initialization of the Stewart platform.
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
@@ -257,7 +260,8 @@ The low frequency transfer function matrix from $\mathcal{\bm{F}}$ to $\mathcal{
 ** Transfer function from forces applied in the legs to the displacement of the legs
 Initialization of the Stewart platform.
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
diff --git a/identification.org b/identification.org
index 5fe90b3..d56e229 100644
--- a/identification.org
+++ b/identification.org
@@ -65,7 +65,8 @@ An important difference from basic Simulink models is that the states in a physi
 
 ** Initialize the Stewart Platform
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
@@ -120,7 +121,8 @@ An important difference from basic Simulink models is that the states in a physi
 
 ** Initialize the Stewart Platform
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
@@ -354,7 +356,8 @@ Save the movie of the mode shape.
 
 ** Initialize the Stewart Platform
 #+begin_src matlab
-  stewart = initializeFramesPositions();
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStrutDynamics(stewart);
diff --git a/kinematic-study.org b/kinematic-study.org
index 3951bb2..065999d 100644
--- a/kinematic-study.org
+++ b/kinematic-study.org
@@ -226,7 +226,8 @@ This will also gives us the range for which the approximate forward kinematic is
 *** Stewart architecture definition
 We first define some general Stewart architecture.
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStewartPose(stewart);
@@ -331,7 +332,8 @@ This is what is analyzed in this section.
 ** Stewart architecture definition
 Let's first define the Stewart platform architecture that we want to study.
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStewartPose(stewart);
@@ -487,7 +489,8 @@ However, for small displacements, we can use the Jacobian as an approximate solu
 ** Stewart architecture definition
 Let's first define the Stewart platform architecture that we want to study.
 #+begin_src matlab
-  stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
+  stewart = initializeStewartPlatform();
+  stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
   stewart = generateGeneralConfiguration(stewart);
   stewart = computeJointsPose(stewart);
   stewart = initializeStewartPose(stewart);
diff --git a/simscape-model.org b/simscape-model.org
index 3faf69e..74dbece 100644
--- a/simscape-model.org
+++ b/simscape-model.org
@@ -131,6 +131,7 @@ There is two main types of inertial sensor that can be used to measure the absol
 
 Both inertial sensors are described bellow.
 
+* Other Elements
 ** Z-Axis Geophone
 *** Working Principle
 From the schematic of the Z-axis geophone shown in Figure [[fig:z_axis_geophone]], we can write the transfer function from the support velocity $\dot{w}$ to the relative velocity of the inertial mass $\dot{d}$:
diff --git a/simulink/stewart_active_damping.slx b/simulink/stewart_active_damping.slx
index afa908c46edf5279ea71d1555acf7ca26668a7db..d6c43afc69ae46c9ea1e89f1bc1221cfae9b68b6 100644
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