Correction of the creation of cubic stewart platforms
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@ -187,7 +187,7 @@ To do so, we specify the following parameters:
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We define the parameters
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We define the parameters
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#+begin_src matlab
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#+begin_src matlab
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Hc = 60e-3; % [m]
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Hc = 60e-3; % [m]
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FOc = 30e-3; % [m]
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FOc = 50e-3; % [m]
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FHa = 15e-3; % [m]
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FHa = 15e-3; % [m]
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MHb = 15e-3; % [m]
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MHb = 15e-3; % [m]
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#+end_src
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#+end_src
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@ -221,8 +221,8 @@ We now which to compute the position of the joints $a_{i}$ and $b_{i}$.
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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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Fa = CCf + (FHa./CSi(3,:)).*CSi + [0; 0; FOc];
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Fa = CCf + [0; 0; FOc] + ((FHa-(FOc-Hc/2))./CSi(3,:)).*CSi;
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Mb = CCf + ((H-MHb)./CSi(3,:)).*CSi + [0; 0; FOc-H];
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Mb = CCf + [0; 0; FOc-H] + ((H-MHb-(FOc-Hc/2))./CSi(3,:)).*CSi; % TODO
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#+end_src
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#+end_src
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* initializeCubicConfiguration
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* initializeCubicConfiguration
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