tdehaeze/stewart-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Change CSS/JS location + publish all

Browse Source
This commit is contained in:
Thomas Dehaeze
2021-01-08 15:34:53 +01:00
parent 32330b92f0
commit 240d113062
31 changed files with 5074 additions and 7624 deletions
Download Patch File Download Diff File Expand all files Collapse all files

60
docs/nass.html
View File

@@ -3,17 +3,13 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-09-01 mar. 13:18 -->
<!-- 2021-01-08 ven. 15:30 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Stewart Platform - NASS</title>
<meta name="generator" content="Org mode" />
<meta name="author" content="Dehaeze Thomas" />
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
<script src="./js/jquery.min.js"></script>
<script src="./js/bootstrap.min.js"></script>
<script src="./js/jquery.stickytableheaders.min.js"></script>
<script src="./js/readtheorg.js"></script>
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
</head>
<body>
<div id="org-div-home-and-up">
@@ -26,53 +22,53 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgcfc8288">1. NASS</a>
<li><a href="#org07676ec">1. NASS</a>
<ul>
<li><a href="#org278a89b">1.1. Identification of the Dynamics</a></li>
<li><a href="#org0167386">1.1. Identification of the Dynamics</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="outline-container-orgcfc8288" class="outline-2">
<h2 id="orgcfc8288"><span class="section-number-2">1</span> NASS</h2>
<div id="outline-container-org07676ec" class="outline-2">
<h2 id="org07676ec"><span class="section-number-2">1</span> NASS</h2>
<div class="outline-text-2" id="text-1">
</div>
<div id="outline-container-org278a89b" class="outline-3">
<h3 id="org278a89b"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
<div id="outline-container-org0167386" class="outline-3">
<h3 id="org0167386"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
<div class="outline-text-3" id="text-1-1">
<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');
flex_joint = load('./mat/flexor_ID16.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
<pre class="src src-matlab"> apa = load(<span class="org-string">'./mat/APA300ML.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
flex_joint = load(<span class="org-string">'./mat/flexor_ID16.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 175e-3);
stewart = generateGeneralConfiguration(stewart, 'FH', 20e-3, 'MH', 20e-3, 'FR', 228e-3/2, 'MR', 220e-3/2, 'FTh', [-9, 9, 120-9, 120+9, 240-9, 240+9]*(pi/180), 'MTh', [-60+15, 60-15, 60+15, 180-15, 180+15, -60-15]*(pi/180));
stewart = computeJointsPose(stewart);
stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
stewart = initializeJointDynamics(stewart, 'type_F', 'flexible', 'K_F', flex_joint.K, 'M_F', flex_joint.M, 'n_xyz_F', flex_joint.n_xyz, 'xi_F', 0.1, 'step_file_F', 'mat/flexor_ID16.STEP', 'type_M', 'flexible', 'K_M', flex_joint.K, 'M_M', flex_joint.M, 'n_xyz_M', flex_joint.n_xyz, 'xi_M', 0.1, 'step_file_M', 'mat/flexor_ID16.STEP');
stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 125e-3);
stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart);
<pre class="src src-matlab"> stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 175e<span class="org-type">-</span>3);
stewart = generateGeneralConfiguration(stewart, <span class="org-string">'FH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'MH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'FR'</span>, 228e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'MR'</span>, 220e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'FTh'</span>, [<span class="org-type">-</span>9, 9, 120<span class="org-type">-</span>9, 120<span class="org-type">+</span>9, 240<span class="org-type">-</span>9, 240<span class="org-type">+</span>9]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180), <span class="org-string">'MTh'</span>, [<span class="org-type">-</span>60<span class="org-type">+</span>15, 60<span class="org-type">-</span>15, 60<span class="org-type">+</span>15, 180<span class="org-type">-</span>15, 180<span class="org-type">+</span>15, <span class="org-type">-</span>60<span class="org-type">-</span>15]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180));
stewart = computeJointsPose(stewart);
stewart = initializeFlexibleStrutDynamics(stewart, <span class="org-string">'H'</span>, 0.03, <span class="org-string">'K'</span>, apa.K, <span class="org-string">'M'</span>, apa.M, <span class="org-string">'n_xyz'</span>, apa.n_xyz, <span class="org-string">'xi'</span>, 0.1, <span class="org-string">'step_file'</span>, <span class="org-string">'mat/APA300ML.STEP'</span>);
stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_F'</span>, flex_joint.K, <span class="org-string">'M_F'</span>, flex_joint.M, <span class="org-string">'n_xyz_F'</span>, flex_joint.n_xyz, <span class="org-string">'xi_F'</span>, 0.1, <span class="org-string">'step_file_F'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_M'</span>, flex_joint.K, <span class="org-string">'M_M'</span>, flex_joint.M, <span class="org-string">'n_xyz_M'</span>, flex_joint.n_xyz, <span class="org-string">'xi_M'</span>, 0.1, <span class="org-string">'step_file_M'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>);
stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'</span>, 150e<span class="org-type">-</span>3, <span class="org-string">'Mpr'</span>, 125e<span class="org-type">-</span>3);
stewart = initializeCylindricalStruts(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'none'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'none'</span>);
stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">ground = initializeGround('type', 'none');
payload = initializePayload('type', 'rigid', 'm', 50);
controller = initializeController('type', 'open-loop');
<pre class="src src-matlab"> ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'m'</span>, 50);
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">disturbances = initializeDisturbances();
references = initializeReferences(stewart);
<pre class="src src-matlab"> disturbances = initializeDisturbances();
references = initializeReferences(stewart);
</pre>
</div>
</div>
@@ -81,7 +77,7 @@ references = initializeReferences(stewart);
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-09-01 mar. 13:18</p>
<p class="date">Created: 2021-01-08 ven. 15:30</p>
</div>
</body>
</html>