Update all project: add folders with scripts
This commit is contained in:
@@ -1,7 +0,0 @@
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function J = getJacobianMatrix(RM,M_pos_base)
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% RM: [3x6] unit vector of each leg in the fixed frame
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% M_pos_base: [3x6] vector of the leg connection at the top platform location in the fixed frame
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J = zeros(6);
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J(:, 1:3) = RM';
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J(:, 4:6) = cross(M_pos_base, RM)';
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end
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@@ -1,3 +1,5 @@
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function [K] = getStiffnessMatrix(leg, J)
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K = leg.k.ax*(J'*J);
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function [K] = getStiffnessMatrix(k, J)
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% k - leg stiffness
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% J - Jacobian matrix
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K = k*(J'*J);
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end
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51
src/identifyPlant.m
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51
src/identifyPlant.m
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@@ -0,0 +1,51 @@
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function [sys] = identifyPlant(opts_param)
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%% Default values for opts
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opts = struct();
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'stewart_identification';
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%% Input/Output definition
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io(1) = linio([mdl, '/F'], 1, 'input'); % Cartesian forces
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io(2) = linio([mdl, '/Fl'], 1, 'input'); % Leg forces
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io(3) = linio([mdl, '/Fd'], 1, 'input'); % Direct forces
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io(4) = linio([mdl, '/Dw'], 1, 'input'); % Base motion
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io(5) = linio([mdl, '/Dm'], 1, 'output'); % Relative Motion
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io(6) = linio([mdl, '/Dlm'], 1, 'output'); % Displacement of each leg
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io(7) = linio([mdl, '/Flm'], 1, 'output'); % Force sensor in each leg
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io(8) = linio([mdl, '/Xm'], 1, 'output'); % Absolute motion of platform
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%% Run the linearization
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G = linearize(mdl, io, 0);
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%% Input/Output names
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G.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz', ...
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'F1', 'F2', 'F3', 'F4', 'F5', 'F6', ...
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'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz', ...
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'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz'};
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G.OutputName = {'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm', ...
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'D1m', 'D2m', 'D3m', 'D4m', 'D5m', 'D6m', ...
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'F1m', 'F2m', 'F3m', 'F4m', 'F5m', 'F6m', ...
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'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'};
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%% Cut into sub transfer functions
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sys.G_cart = minreal(G({'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'}, {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'}));
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sys.G_forc = minreal(G({'F1m', 'F2m', 'F3m', 'F4m', 'F5m', 'F6m'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'}));
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sys.G_legs = G({'D1m', 'D2m', 'D3m', 'D4m', 'D5m', 'D6m'}, {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'});
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sys.G_tran = minreal(G({'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'}, {'Dwx', 'Dwy', 'Dwz', 'Rwx', 'Rwy', 'Rwz'}));
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sys.G_comp = minreal(G({'Dxm', 'Dym', 'Dzm', 'Rxm', 'Rym', 'Rzm'}, {'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'}));
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sys.G_iner = minreal(G({'Dxtm', 'Dytm', 'Dztm', 'Rxtm', 'Rytm', 'Rztm'}, {'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'}));
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sys.G_all = minreal(G);
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end
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@@ -1,35 +0,0 @@
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function [G_cart, G_cart_raw] = identifyPlantCart()
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%% Default values for opts
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opts = struct('f_low', 1,...
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'f_high', 10000 ...
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);
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'stewart_simscape';
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%% Centralized control (Cartesian coordinates)
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% Input/Output definition
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io(1) = linio([mdl, '/F_cart'],1,'input');
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io(2) = linio([mdl, '/Stewart_Platform'],1,'output');
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% Run the linearization
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G_cart_raw = linearize(mdl,io, 0);
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G_cart = preprocessIdTf(G_cart_raw, opts.f_low, opts.f_high);
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% Input/Output names
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G_cart.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
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G_cart.OutputName = {'Dx', 'Dy', 'Dz', 'Rx', 'Ry', 'Rz'};
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end
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@@ -1,35 +0,0 @@
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function [G_legs, G_legs_raw] = identifyPlantLegs()
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%% Default values for opts
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opts = struct('f_low', 1, ...
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'f_high', 10000 ...
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);
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%% Options for Linearized
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options = linearizeOptions;
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options.SampleTime = 0;
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%% Name of the Simulink File
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mdl = 'stewart_simscape';
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%% Centralized control (Cartesian coordinates)
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% Input/Output definition
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io(1) = linio([mdl, '/F_legs'], 1,'input');
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io(2) = linio([mdl, '/Stewart_Platform'],2,'output');
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% Run the linearization
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G_legs_raw = linearize(mdl,io, 0);
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G_legs = preprocessIdTf(G_legs_raw, opts.f_low, opts.f_high);
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% Input/Output names
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G_legs.InputName = {'F1', 'F2', 'F3', 'M4', 'M5', 'M6'};
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G_legs.OutputName = {'D1', 'D2', 'D3', 'R4', 'R5', 'R6'};
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end
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208
src/initializeHexapod.m
Normal file
208
src/initializeHexapod.m
Normal file
@@ -0,0 +1,208 @@
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function [stewart] = initializeHexapod(opts_param)
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%% Default values for opts
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opts = struct(...
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'height', 90, ... % Height of the platform [mm]
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'jacobian', 150, ... % Jacobian offset [mm]
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'density', 8000, ... % Density of hexapod [mm]
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'name', 'stewart' ... % Name of the file
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);
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%% Populate opts with input parameters
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if exist('opts_param','var')
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for opt = fieldnames(opts_param)'
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opts.(opt{1}) = opts_param.(opt{1});
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end
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end
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%% Stewart Object
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stewart = struct();
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stewart.h = opts.height; % Total height of the platform [mm]
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stewart.jacobian = opts.jacobian; % distance from the center of the top platform
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% where the jacobian is computed [mm]
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 0; % Internal Radius [mm]
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BP.rad.ext = 150; % External Radius [mm]
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BP.thickness = 10; % Thickness [mm]
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BP.leg.rad = 100; % Radius where the legs articulations are positionned [mm]
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BP.leg.ang = 5; % Angle Offset [deg]
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BP.density = opts.density; % Density of the material [kg/m3]
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BP.color = [0.7 0.7 0.7]; % Color [rgb]
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BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
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%% Top Plate
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TP = struct();
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TP.rad.int = 0; % Internal Radius [mm]
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TP.rad.ext = 100; % Internal Radius [mm]
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TP.thickness = 10; % Thickness [mm]
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TP.leg.rad = 90; % Radius where the legs articulations are positionned [mm]
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TP.leg.ang = 5; % Angle Offset [deg]
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TP.density = opts.density; % Density of the material [kg/m3]
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TP.color = [0.7 0.7 0.7]; % Color [rgb]
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TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
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%% Leg
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Leg = struct();
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Leg.stroke = 80e-6; % Maximum Stroke of each leg [m]
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if strcmp(opts.actuator, 'piezo')
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Leg.k.ax = 1e7; % Stiffness of each leg [N/m]
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Leg.c.ax = 500; % [N/(m/s)]
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elseif strcmp(opts.actuator, 'lorentz')
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Leg.k.ax = 1e4; % Stiffness of each leg [N/m]
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Leg.c.ax = 200; % [N/(m/s)]
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elseif isnumeric(opts.actuator)
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Leg.k.ax = opts.actuator; % Stiffness of each leg [N/m]
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Leg.c.ax = 100; % [N/(m/s)]
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else
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error('opts.actuator should be piezo or lorentz or numeric value');
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end
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Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.top = 10; % Radius of the cylinder of the top part [mm]
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Leg.density = opts.density; % Density of the material [kg/m3]
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Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
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Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
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Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
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Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
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%% Sphere
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SP = struct();
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SP.height.bottom = 15; % [mm]
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SP.height.top = 15; % [mm]
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SP.density.bottom = opts.density; % [kg/m^3]
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SP.density.top = opts.density; % [kg/m^3]
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SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
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SP.color.top = [0.7 0.7 0.7]; % [rgb]
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SP.k.ax = 0; % [N*m/deg]
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SP.c.ax = 0; % [N*m/deg]
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SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
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SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
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SP.rad.bottom = Leg.sphere.bottom; % [mm]
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SP.rad.top = Leg.sphere.top; % [mm]
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%%
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Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
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Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
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%%
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stewart.BP = BP;
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stewart.TP = TP;
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stewart.Leg = Leg;
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stewart.SP = SP;
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%%
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stewart = initializeParameters(stewart);
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%%
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save('./mat/stewart.mat', 'stewart')
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%% ==============================================================
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% Additional Functions
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% ===============================================================
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%% Initialize Parameters
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function [stewart] = initializeParameters(stewart)
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%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
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stewart.pos_base = zeros(6, 3);
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stewart.pos_top = zeros(6, 3);
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alpha_b = stewart.BP.leg.ang*pi/180; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
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alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top
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% Height [m] TODO
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height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001;
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radius_b = stewart.BP.leg.rad*0.001; % rayon emplacement support base
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radius_t = stewart.TP.leg.rad*0.001; % top radius in meters
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for i = 1:3
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% base points
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angle_m_b = (2*pi/3)* (i-1) - alpha_b;
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angle_p_b = (2*pi/3)* (i-1) + alpha_b;
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stewart.pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0];
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stewart.pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0];
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% top points
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% Top points are 60 degrees offset
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angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
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angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
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stewart.pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
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stewart.pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];
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end
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% permute pos_top points so that legs are end points of base and top points
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stewart.pos_top = [stewart.pos_top(6,:); stewart.pos_top(1:5,:)]; %6th point on top connects to 1st on bottom
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stewart.pos_top_tranform = stewart.pos_top - height*[zeros(6, 2),ones(6, 1)];
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%% leg vectors
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legs = stewart.pos_top - stewart.pos_base;
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leg_length = zeros(6, 1);
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leg_vectors = zeros(6, 3);
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for i = 1:6
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leg_length(i) = norm(legs(i,:));
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leg_vectors(i,:) = legs(i,:) / leg_length(i);
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end
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stewart.Leg.lenght = 1000*leg_length(1)/1.5;
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stewart.Leg.shape.bot = [0 0; ...
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stewart.Leg.rad.bottom 0; ...
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stewart.Leg.rad.bottom stewart.Leg.lenght; ...
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stewart.Leg.rad.top stewart.Leg.lenght; ...
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stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
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0 0.2*stewart.Leg.lenght];
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%% Calculate revolute and cylindrical axes
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rev1 = zeros(6, 3);
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rev2 = zeros(6, 3);
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cyl1 = zeros(6, 3);
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for i = 1:6
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rev1(i,:) = cross(leg_vectors(i,:), [0 0 1]);
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rev1(i,:) = rev1(i,:) / norm(rev1(i,:));
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rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:));
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rev2(i,:) = rev2(i,:) / norm(rev2(i,:));
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cyl1(i,:) = leg_vectors(i,:);
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end
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%% Coordinate systems
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stewart.lower_leg = struct('rotation', eye(3));
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stewart.upper_leg = struct('rotation', eye(3));
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for i = 1:6
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stewart.lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
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stewart.upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
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end
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%% Position Matrix
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% TODO
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stewart.M_pos_base = stewart.pos_base + (height+(stewart.TP.thickness+stewart.Leg.sphere.top+stewart.SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
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%% Compute Jacobian Matrix
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% TODO
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% aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
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bb = stewart.pos_top_tranform - (stewart.TP.thickness + stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
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bb = bb - stewart.jacobian*1e-3*[zeros(6, 2),ones(6, 1)];
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stewart.J = getJacobianMatrix(leg_vectors', bb');
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stewart.K = stewart.Leg.k.ax*stewart.J'*stewart.J;
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end
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%% Compute the Jacobian Matrix
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function J = getJacobianMatrix(RM, M_pos_base)
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% RM - [3x6] unit vector of each leg in the fixed frame
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% M_pos_base - [3x6] vector of the leg connection at the top platform location in the fixed frame
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J = zeros(6);
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J(:, 1:3) = RM';
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J(:, 4:6) = cross(M_pos_base, RM)';
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end
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end
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@@ -1,92 +0,0 @@
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function [stewart] = initializeMicroHexapod()
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%% Stewart Object
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stewart = struct();
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stewart.h = 350; % Total height of the platform [mm]
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stewart.jacobian = 435; % Point where the Jacobian is computed => Center of rotation [mm]
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%% Bottom Plate
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BP = struct();
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BP.rad.int = 110; % Internal Radius [mm]
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BP.rad.ext = 207.5; % External Radius [mm]
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BP.thickness = 26; % Thickness [mm]
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BP.leg.rad = 175.5; % Radius where the legs articulations are positionned [mm]
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BP.leg.ang = 9.5; % Angle Offset [deg]
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BP.density = 8000; % Density of the material [kg/m^3]
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BP.color = [0.6 0.6 0.6]; % Color [rgb]
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BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
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%% Top Plate
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TP = struct();
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TP.rad.int = 82; % Internal Radius [mm]
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TP.rad.ext = 150; % Internal Radius [mm]
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TP.thickness = 26; % Thickness [mm]
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TP.leg.rad = 118; % Radius where the legs articulations are positionned [mm]
|
||||
TP.leg.ang = 12.1; % Angle Offset [deg]
|
||||
TP.density = 8000; % Density of the material [kg/m^3]
|
||||
TP.color = [0.6 0.6 0.6]; % Color [rgb]
|
||||
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
|
||||
|
||||
%% Leg
|
||||
Leg = struct();
|
||||
|
||||
Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
|
||||
Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
|
||||
Leg.ksi.ax = 3; % Maximum amplification at resonance []
|
||||
Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
|
||||
Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
|
||||
Leg.density = 8000; % Density of the material [kg/m^3]
|
||||
Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
|
||||
Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
|
||||
|
||||
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
|
||||
Leg = updateDamping(Leg);
|
||||
|
||||
|
||||
%% Sphere
|
||||
SP = struct();
|
||||
|
||||
SP.height.bottom = 27; % [mm]
|
||||
SP.height.top = 27; % [mm]
|
||||
SP.density.bottom = 8000; % [kg/m^3]
|
||||
SP.density.top = 8000; % [kg/m^3]
|
||||
SP.color.bottom = [0.6 0.6 0.6]; % [rgb]
|
||||
SP.color.top = [0.6 0.6 0.6]; % [rgb]
|
||||
SP.k.ax = 0; % [N*m/deg]
|
||||
SP.ksi.ax = 10;
|
||||
|
||||
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
|
||||
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
|
||||
SP.rad.bottom = Leg.sphere.bottom; % [mm]
|
||||
SP.rad.top = Leg.sphere.top; % [mm]
|
||||
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
|
||||
|
||||
SP = updateDamping(SP);
|
||||
|
||||
%%
|
||||
Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
|
||||
Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
|
||||
|
||||
%%
|
||||
stewart.BP = BP;
|
||||
stewart.TP = TP;
|
||||
stewart.Leg = Leg;
|
||||
stewart.SP = SP;
|
||||
|
||||
%%
|
||||
stewart = initializeParameters(stewart);
|
||||
|
||||
%%
|
||||
save('./mat/hexapod.mat', 'stewart');
|
||||
|
||||
%%
|
||||
function element = updateDamping(element)
|
||||
field = fieldnames(element.k);
|
||||
for i = 1:length(field)
|
||||
element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
|
||||
end
|
||||
end
|
||||
end
|
||||
@@ -1,93 +0,0 @@
|
||||
function [stewart] = initializeNanoHexapod()
|
||||
%% Stewart Object
|
||||
stewart = struct();
|
||||
stewart.h = 90; % Total height of the platform [mm]
|
||||
stewart.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm]
|
||||
|
||||
%% Bottom Plate
|
||||
BP = struct();
|
||||
|
||||
BP.rad.int = 0; % Internal Radius [mm]
|
||||
BP.rad.ext = 150; % External Radius [mm]
|
||||
BP.thickness = 10; % Thickness [mm]
|
||||
BP.leg.rad = 100; % Radius where the legs articulations are positionned [mm]
|
||||
BP.leg.ang = 5; % Angle Offset [deg]
|
||||
BP.density = 8000;% Density of the material [kg/m^3]
|
||||
BP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
|
||||
|
||||
%% Top Plate
|
||||
TP = struct();
|
||||
|
||||
TP.rad.int = 0; % Internal Radius [mm]
|
||||
TP.rad.ext = 100; % Internal Radius [mm]
|
||||
TP.thickness = 10; % Thickness [mm]
|
||||
TP.leg.rad = 90; % Radius where the legs articulations are positionned [mm]
|
||||
TP.leg.ang = 5; % Angle Offset [deg]
|
||||
TP.density = 8000;% Density of the material [kg/m^3]
|
||||
TP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
|
||||
|
||||
%% Leg
|
||||
Leg = struct();
|
||||
|
||||
Leg.stroke = 80e-6; % Maximum Stroke of each leg [m]
|
||||
Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
|
||||
Leg.ksi.ax = 10; % Maximum amplification at resonance []
|
||||
Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
|
||||
Leg.rad.top = 10; % Radius of the cylinder of the top part [mm]
|
||||
Leg.density = 8000; % Density of the material [kg/m^3]
|
||||
Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
|
||||
Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
|
||||
|
||||
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
|
||||
Leg = updateDamping(Leg);
|
||||
|
||||
|
||||
%% Sphere
|
||||
SP = struct();
|
||||
|
||||
SP.height.bottom = 15; % [mm]
|
||||
SP.height.top = 15; % [mm]
|
||||
SP.density.bottom = 8000; % [kg/m^3]
|
||||
SP.density.top = 8000; % [kg/m^3]
|
||||
SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.color.top = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.k.ax = 0; % [N*m/deg]
|
||||
SP.ksi.ax = 3;
|
||||
|
||||
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
|
||||
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
|
||||
SP.rad.bottom = Leg.sphere.bottom; % [mm]
|
||||
SP.rad.top = Leg.sphere.top; % [mm]
|
||||
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
|
||||
|
||||
SP = updateDamping(SP);
|
||||
|
||||
%%
|
||||
Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
|
||||
Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
|
||||
|
||||
%%
|
||||
stewart.BP = BP;
|
||||
stewart.TP = TP;
|
||||
stewart.Leg = Leg;
|
||||
stewart.SP = SP;
|
||||
|
||||
%%
|
||||
stewart = initializeParameters(stewart);
|
||||
|
||||
%%
|
||||
save('./mat/stewart.mat', 'stewart')
|
||||
|
||||
%%
|
||||
function element = updateDamping(element)
|
||||
field = fieldnames(element.k);
|
||||
for i = 1:length(field)
|
||||
element.c.(field{i}) = 1/element.ksi.(field{i})*sqrt(element.k.(field{i})/element.m);
|
||||
end
|
||||
end
|
||||
|
||||
end
|
||||
@@ -1,80 +0,0 @@
|
||||
function [stewart] = initializeParameters(stewart)
|
||||
%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
|
||||
stewart.pos_base = zeros(6, 3);
|
||||
stewart.pos_top = zeros(6, 3);
|
||||
|
||||
alpha_b = stewart.BP.leg.ang*pi/180; % angle de d<EFBFBD>calage par rapport <EFBFBD> 120 deg (pour positionner les supports bases)
|
||||
alpha_t = stewart.TP.leg.ang*pi/180; % +- offset angle from 120 degree spacing on top
|
||||
|
||||
height = (stewart.h-stewart.BP.thickness-stewart.TP.thickness-stewart.Leg.sphere.bottom-stewart.Leg.sphere.top-stewart.SP.thickness.bottom-stewart.SP.thickness.top)*0.001; % TODO
|
||||
|
||||
radius_b = stewart.BP.leg.rad*0.001; % rayon emplacement support base
|
||||
radius_t = stewart.TP.leg.rad*0.001; % top radius in meters
|
||||
|
||||
for i = 1:3
|
||||
% base points
|
||||
angle_m_b = (2*pi/3)* (i-1) - alpha_b;
|
||||
angle_p_b = (2*pi/3)* (i-1) + alpha_b;
|
||||
stewart.pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0];
|
||||
stewart.pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0];
|
||||
|
||||
% top points
|
||||
% Top points are 60 degrees offset
|
||||
angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6;
|
||||
angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6;
|
||||
stewart.pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height];
|
||||
stewart.pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height];
|
||||
end
|
||||
|
||||
% permute pos_top points so that legs are end points of base and top points
|
||||
stewart.pos_top = [stewart.pos_top(6,:); stewart.pos_top(1:5,:)]; %6th point on top connects to 1st on bottom
|
||||
stewart.pos_top_tranform = stewart.pos_top - height*[zeros(6, 2),ones(6, 1)];
|
||||
|
||||
%% leg vectors
|
||||
legs = stewart.pos_top - stewart.pos_base;
|
||||
leg_length = zeros(6, 1);
|
||||
leg_vectors = zeros(6, 3);
|
||||
for i = 1:6
|
||||
leg_length(i) = norm(legs(i,:));
|
||||
leg_vectors(i,:) = legs(i,:) / leg_length(i);
|
||||
end
|
||||
|
||||
stewart.Leg.lenght = 1000*leg_length(1)/1.5;
|
||||
stewart.Leg.shape.bot = [0 0; ...
|
||||
stewart.Leg.rad.bottom 0; ...
|
||||
stewart.Leg.rad.bottom stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top stewart.Leg.lenght; ...
|
||||
stewart.Leg.rad.top 0.2*stewart.Leg.lenght; ...
|
||||
0 0.2*stewart.Leg.lenght];
|
||||
|
||||
%% Calculate revolute and cylindrical axes
|
||||
rev1 = zeros(6, 3);
|
||||
rev2 = zeros(6, 3);
|
||||
cyl1 = zeros(6, 3);
|
||||
for i = 1:6
|
||||
rev1(i,:) = cross(leg_vectors(i,:), [0 0 1]);
|
||||
rev1(i,:) = rev1(i,:) / norm(rev1(i,:));
|
||||
|
||||
rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:));
|
||||
rev2(i,:) = rev2(i,:) / norm(rev2(i,:));
|
||||
|
||||
cyl1(i,:) = leg_vectors(i,:);
|
||||
end
|
||||
|
||||
|
||||
%% Coordinate systems
|
||||
stewart.lower_leg = struct('rotation', eye(3));
|
||||
stewart.upper_leg = struct('rotation', eye(3));
|
||||
|
||||
for i = 1:6
|
||||
stewart.lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
|
||||
stewart.upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
|
||||
end
|
||||
|
||||
%% Position Matrix
|
||||
stewart.M_pos_base = stewart.pos_base + (height+(stewart.TP.thickness+stewart.Leg.sphere.top+stewart.SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
|
||||
|
||||
%% Compute Jacobian Matrix
|
||||
aa = stewart.pos_top_tranform + (stewart.jacobian - stewart.TP.thickness - stewart.SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
|
||||
stewart.J = getJacobianMatrix(leg_vectors', aa');
|
||||
end
|
||||
@@ -1,10 +1,12 @@
|
||||
function [] = initializeSample(opts_param)
|
||||
%% Default values for opts
|
||||
sample = struct('radius', 100,...
|
||||
'height', 300,...
|
||||
'mass', 50,...
|
||||
'offset', 0,...
|
||||
'color', [0.9 0.1 0.1] ...
|
||||
sample = struct( ...
|
||||
'radius', 100, ... % radius of the cylinder [mm]
|
||||
'height', 300, ... % height of the cylinder [mm]
|
||||
'mass', 50, ... % mass of the cylinder [kg]
|
||||
'measheight', 150, ... % measurement point z-offset [mm]
|
||||
'offset', [0, 0, 0], ... % offset position of the sample [mm]
|
||||
'color', [0.9 0.1 0.1] ...
|
||||
);
|
||||
|
||||
%% Populate opts with input parameters
|
||||
|
||||
Reference in New Issue
Block a user