Add reference subsystems for struts and platforms
This commit is contained in:
+155
-79
@@ -433,85 +433,6 @@ This Matlab function is accessible [[file:src/initializeStrutDynamics.m][here]].
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stewart.Ci = args.Ci;
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#+end_src
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* =initializeCylindricalStruts=: Define the mass and moment of inertia of cylindrical struts
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:PROPERTIES:
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:header-args:matlab+: :tangle src/initializeCylindricalStruts.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeCylindricalStruts>>
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This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][here]].
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** Function description
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#+begin_src matlab
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function [stewart] = initializeCylindricalStruts(stewart, args)
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% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
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%
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% Syntax: [stewart] = initializeCylindricalStruts(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fsm [1x1] - Mass of the Fixed part of the struts [kg]
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% - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m]
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% - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - Msm [1x1] - Mass of the Mobile part of the struts [kg]
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% - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m]
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% - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - struts [struct] - structure with the following fields:
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% - Fsm [6x1] - Mass of the Fixed part of the struts [kg]
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% - Fsi [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2]
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% - Msm [6x1] - Mass of the Mobile part of the struts [kg]
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% - Msi [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2]
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% - Fsh [6x1] - Height of cylinder for the Fixed part of the struts [m]
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% - Fsr [6x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - Msh [6x1] - Height of cylinder for the Mobile part of the struts [m]
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% - Msr [6x1] - Radius of cylinder for the Mobile part of the struts [m]
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#+end_src
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** Optional Parameters
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#+begin_src matlab
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arguments
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stewart
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args.Fsm (6,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Fsh (6,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Fsr (6,1) double {mustBeNumeric, mustBePositive} = 5e-3
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args.Msm (6,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Msh (6,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Msr (6,1) double {mustBeNumeric, mustBePositive} = 5e-3
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end
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#+end_src
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** Add Stiffness and Damping properties of each strut
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#+begin_src matlab
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struts = struct();
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struts.Fsm = ones(6,1).*args.Fsm;
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struts.Msm = ones(6,1).*args.Msm;
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struts.Fsh = ones(6,1).*args.Fsh;
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struts.Fsr = ones(6,1).*args.Fsr;
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struts.Msh = ones(6,1).*args.Msh;
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struts.Msr = ones(6,1).*args.Msr;
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struts.Fsi = zeros(3, 3, 6);
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struts.Msi = zeros(3, 3, 6);
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for i = 1:6
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struts.Fsi(:,:,i) = diag([1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
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1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
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1/2 * struts.Fsm(i) * struts.Fsr(i)^2]);
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struts.Msi(:,:,i) = diag([1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
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1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
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1/2 * struts.Msm(i) * struts.Msr(i)^2]);
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end
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#+end_src
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#+begin_src matlab
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stewart.struts = struts;
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#+end_src
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* =computeJacobian=: Compute the Jacobian Matrix
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:PROPERTIES:
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:header-args:matlab+: :tangle src/computeJacobian.m
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@@ -555,6 +476,161 @@ This Matlab function is accessible [[file:src/computeJacobian.m][here]].
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stewart.C = inv(stewart.K);
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#+end_src
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* Initialize the Geometry of the Mechanical Elements
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** =initializeCylindricalStruts=: Define the mass and moment of inertia of cylindrical struts
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:PROPERTIES:
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:header-args:matlab+: :tangle src/initializeCylindricalStruts.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeCylindricalStruts>>
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This Matlab function is accessible [[file:src/initializeCylindricalStruts.m][here]].
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*** Function description
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#+begin_src matlab
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function [stewart] = initializeCylindricalStruts(stewart, args)
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% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
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%
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% Syntax: [stewart] = initializeCylindricalStruts(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fsm [1x1] - Mass of the Fixed part of the struts [kg]
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% - Fsh [1x1] - Height of cylinder for the Fixed part of the struts [m]
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% - Fsr [1x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - Msm [1x1] - Mass of the Mobile part of the struts [kg]
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% - Msh [1x1] - Height of cylinder for the Mobile part of the struts [m]
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% - Msr [1x1] - Radius of cylinder for the Mobile part of the struts [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - struts [struct] - structure with the following fields:
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% - Fsm [6x1] - Mass of the Fixed part of the struts [kg]
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% - Fsi [3x3x6] - Moment of Inertia for the Fixed part of the struts [kg*m^2]
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% - Msm [6x1] - Mass of the Mobile part of the struts [kg]
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% - Msi [3x3x6] - Moment of Inertia for the Mobile part of the struts [kg*m^2]
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% - Fsh [6x1] - Height of cylinder for the Fixed part of the struts [m]
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% - Fsr [6x1] - Radius of cylinder for the Fixed part of the struts [m]
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% - Msh [6x1] - Height of cylinder for the Mobile part of the struts [m]
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% - Msr [6x1] - Radius of cylinder for the Mobile part of the struts [m]
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#+end_src
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*** Optional Parameters
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#+begin_src matlab
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arguments
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stewart
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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end
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#+end_src
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*** Create the =struts= structure
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#+begin_src matlab
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struts = struct();
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struts.Fsm = ones(6,1).*args.Fsm;
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struts.Msm = ones(6,1).*args.Msm;
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struts.Fsh = ones(6,1).*args.Fsh;
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struts.Fsr = ones(6,1).*args.Fsr;
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struts.Msh = ones(6,1).*args.Msh;
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struts.Msr = ones(6,1).*args.Msr;
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struts.Fsi = zeros(3, 3, 6);
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struts.Msi = zeros(3, 3, 6);
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for i = 1:6
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struts.Fsi(:,:,i) = diag([1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
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1/12 * struts.Fsm(i) * (3*struts.Fsr(i)^2 + struts.Fsh(i)^2), ...
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1/2 * struts.Fsm(i) * struts.Fsr(i)^2]);
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struts.Msi(:,:,i) = diag([1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
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1/12 * struts.Msm(i) * (3*struts.Msr(i)^2 + struts.Msh(i)^2), ...
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1/2 * struts.Msm(i) * struts.Msr(i)^2]);
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end
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#+end_src
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#+begin_src matlab
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stewart.struts = struts;
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#+end_src
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** =initializeCylindricalPlatforms=: Initialize the geometry of the Fixed and Mobile Platforms
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:PROPERTIES:
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:header-args:matlab+: :tangle src/initializeCylindricalPlatforms.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:initializeCylindricalPlatforms>>
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This Matlab function is accessible [[file:src/initializeCylindricalPlatforms.m][here]].
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*** Function description
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#+begin_src matlab
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function [stewart] = initializeCylindricalPlatforms(stewart, args)
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% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
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%
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% Syntax: [stewart] = initializeCylindricalPlatforms(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platforms [struct] - structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Msi [3x3] - Mobile Platform Inertia matrix [kg*m^2]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Fsi [3x3] - Fixed Platform Inertia matrix [kg*m^2]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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#+end_src
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*** Optional Parameters
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#+begin_src matlab
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arguments
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stewart
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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end
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#+end_src
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*** Create the =platforms= struct
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#+begin_src matlab
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platforms = struct();
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platforms.Fpm = args.Fpm;
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platforms.Fph = args.Fph;
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platforms.Fpr = args.Fpr;
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platforms.Fpi = diag([1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/2 * platforms.Fpm * platforms.Fpr^2]);
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platforms.Mpm = args.Mpm;
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platforms.Mph = args.Mph;
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platforms.Mpr = args.Mpr;
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platforms.Mpi = diag([1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/2 * platforms.Mpm * platforms.Mpr^2]);
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#+end_src
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*** Save the =platforms= struct
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#+begin_src matlab
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stewart.platforms = platforms;
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#+end_src
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* Utility Functions
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** =inverseKinematics=: Compute Inverse Kinematics
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:PROPERTIES:
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@@ -0,0 +1,53 @@
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function [stewart] = initializeCylindricalPlatforms(stewart, args)
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% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
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%
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% Syntax: [stewart] = initializeCylindricalPlatforms(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - platforms [struct] - structure with the following fields:
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% - Fpm [1x1] - Fixed Platform Mass [kg]
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% - Msi [3x3] - Mobile Platform Inertia matrix [kg*m^2]
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% - Fph [1x1] - Fixed Platform Height [m]
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% - Fpr [1x1] - Fixed Platform Radius [m]
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% - Mpm [1x1] - Mobile Platform Mass [kg]
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% - Fsi [3x3] - Fixed Platform Inertia matrix [kg*m^2]
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% - Mph [1x1] - Mobile Platform Height [m]
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% - Mpr [1x1] - Mobile Platform Radius [m]
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arguments
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stewart
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 125e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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end
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platforms = struct();
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platforms.Fpm = args.Fpm;
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platforms.Fph = args.Fph;
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platforms.Fpr = args.Fpr;
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platforms.Fpi = diag([1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/12 * platforms.Fpm * (3*platforms.Fpr^2 + platforms.Fph^2), ...
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1/2 * platforms.Fpm * platforms.Fpr^2]);
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platforms.Mpm = args.Mpm;
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platforms.Mph = args.Mph;
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platforms.Mpr = args.Mpr;
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platforms.Mpi = diag([1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/12 * platforms.Mpm * (3*platforms.Mpr^2 + platforms.Mph^2), ...
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1/2 * platforms.Mpm * platforms.Mpr^2]);
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stewart.platforms = platforms;
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@@ -26,12 +26,12 @@ function [stewart] = initializeCylindricalStruts(stewart, args)
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arguments
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stewart
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args.Fsm (6,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Fsh (6,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Fsr (6,1) double {mustBeNumeric, mustBePositive} = 5e-3
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args.Msm (6,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Msh (6,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Msr (6,1) double {mustBeNumeric, mustBePositive} = 5e-3
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
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end
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struts = struct();
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