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Correction of the creation of cubic stewart platforms

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Thomas Dehaeze 2019-12-20 16:01:38 +01:00
parent c69f79bf5d
commit 4d47a51d9f
1 changed files with 3 additions and 3 deletions
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@ -187,7 +187,7 @@ To do so, we specify the following parameters:
We define the parameters We define the parameters
#+begin_src matlab #+begin_src matlab
Hc = 60e-3; % [m] Hc = 60e-3; % [m]
FOc = 30e-3; % [m] FOc = 50e-3; % [m]
FHa = 15e-3; % [m] FHa = 15e-3; % [m]
MHb = 15e-3; % [m] MHb = 15e-3; % [m]
#+end_src #+end_src
@ -221,8 +221,8 @@ We now which to compute the position of the joints $a_{i}$ and $b_{i}$.
#+end_src #+end_src
#+begin_src matlab #+begin_src matlab
Fa = CCf + (FHa./CSi(3,:)).*CSi + [0; 0; FOc]; Fa = CCf + [0; 0; FOc] + ((FHa-(FOc-Hc/2))./CSi(3,:)).*CSi;
Mb = CCf + ((H-MHb)./CSi(3,:)).*CSi + [0; 0; FOc-H]; Mb = CCf + [0; 0; FOc-H] + ((H-MHb-(FOc-Hc/2))./CSi(3,:)).*CSi; % TODO
#+end_src #+end_src
* initializeCubicConfiguration * initializeCubicConfiguration