diff --git a/stewart-architecture.html b/stewart-architecture.html index 2818386..db59585 100644 --- a/stewart-architecture.html +++ b/stewart-architecture.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platform - Definition of the Architecture @@ -268,93 +268,93 @@ for the JavaScript code in this tag.

Table of Contents

-
-

Compute the orientation of the Joints

-
+
+

Compute the orientation of the Joints

+
stewart.FRa = zeros(3,3,6);
 stewart.MRb = zeros(3,3,6);
@@ -1011,11 +1011,11 @@ stewart.MRb = zeros(3,3,6);
-
-

5.4 initializeStewartPose: Determine the initial stroke in each leg to have the wanted pose

+
+

5.4 initializeStewartPose: Determine the initial stroke in each leg to have the wanted pose

- +

@@ -1023,9 +1023,9 @@ This Matlab function is accessible here

-
-

Function description

-
+
+

Function description

+
function [stewart] = initializeStewartPose(stewart, args)
 % initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose
@@ -1049,9 +1049,9 @@ This Matlab function is accessible here
-
-

Optional Parameters

-
+
+

Optional Parameters

+
arguments
     stewart
@@ -1063,9 +1063,9 @@ This Matlab function is accessible here
-
-

Use the Inverse Kinematic function

-
+
+

Use the Inverse Kinematic function

+
[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB);
 
@@ -1076,11 +1076,11 @@ stewart.dLi = dLi;
-
-

5.5 initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms

+
+

5.5 initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms

- +

@@ -1088,9 +1088,9 @@ This Matlab function is accessible -

Function description

-
+
+

Function description

+
function [stewart] = initializeCylindricalPlatforms(stewart, args)
 % initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
@@ -1122,9 +1122,9 @@ This Matlab function is accessible 
-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1140,9 +1140,9 @@ This Matlab function is accessible 
-
Create the platforms struct

-

+

+
Create the platforms struct

+

 

 
platforms = struct();
 
@@ -1164,9 +1164,9 @@ platforms.Mpi = diag([1/12 
 

 

 
-

-
Save the platforms struct

-

+

+
Save the platforms struct

+

 

 
stewart.platforms = platforms;
 

@@ -1175,11 +1175,11 @@ platforms.Mpi = diag([1/12 
 

 

 
-

-
5.6 initializeCylindricalStruts: Define the inertia of cylindrical struts

+

+
5.6 initializeCylindricalStruts: Define the inertia of cylindrical struts

 

 

-
+
 

 
 

@@ -1187,9 +1187,9 @@ This Matlab function is accessible h
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeCylindricalStruts(stewart, args)
 % initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
@@ -1221,9 +1221,9 @@ This Matlab function is accessible h
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1239,9 +1239,9 @@ This Matlab function is accessible h
 

 

 
-

-
Create the struts structure

-

+

+
Create the struts structure

+

 

 
struts = struct();
 
@@ -1274,11 +1274,11 @@ struts.Msi = zeros(3, 3, 6);
 

 

 
-

-
5.7 initializeStrutDynamics: Add Stiffness and Damping properties of each strut

+

+
5.7 initializeStrutDynamics: Add Stiffness and Damping properties of each strut

 

 

-
+
 

 
 

@@ -1286,9 +1286,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeStrutDynamics(stewart, args)
 % initializeStrutDynamics - Add Stiffness and Damping properties of each strut
@@ -1309,9 +1309,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1323,9 +1323,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Add Stiffness and Damping properties of each strut

-

+

+
Add Stiffness and Damping properties of each strut

+

 

 
stewart.Ki = args.Ki;
 stewart.Ci = args.Ci;
@@ -1335,11 +1335,11 @@ stewart.Ci = args.Ci;
 

 

 
-

-
5.8 initializeJointDynamics: Add Stiffness and Damping properties for spherical joints

+

+
5.8 initializeJointDynamics: Add Stiffness and Damping properties for spherical joints

 

 

-
+
 

 
 

@@ -1347,9 +1347,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeJointDynamics(stewart, args)
 % initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
@@ -1379,9 +1379,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1398,9 +1398,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Add Stiffness and Damping properties of each strut

-

+

+
Add Stiffness and Damping properties of each strut

+

 

 
if args.disable
   stewart.Ksbi = zeros(6,1);
@@ -1433,7 +1433,7 @@ This Matlab function is accessible here<
 

 

 
Author: Dehaeze Thomas

-
Created: 2020-02-06 jeu. 17:25

+
Created: 2020-02-06 jeu. 18:23

 

 
 
diff --git a/stewart-architecture.org b/stewart-architecture.org
index d657f53..86d8eae 100644
--- a/stewart-architecture.org
+++ b/stewart-architecture.org
@@ -302,100 +302,6 @@ This Matlab function is accessible [[file:src/initializeFramesPositions.m][here]
   stewart.FO_A = stewart.MO_B + stewart.FO_M; % Position of {A} with respect to {F} [m]
 #+end_src
 
-** =generateCubicConfiguration=: Generate a Cubic Configuration
-:PROPERTIES:
-:header-args:matlab+: :tangle src/generateCubicConfiguration.m
-:header-args:matlab+: :comments none :mkdirp yes :eval no
-:END:
-<>
-
-This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here]].
-
-*** Function description
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-#+begin_src matlab
-  function [stewart] = generateCubicConfiguration(stewart, args)
-  % generateCubicConfiguration - Generate a Cubic Configuration
-  %
-  % Syntax: [stewart] = generateCubicConfiguration(stewart, args)
-  %
-  % Inputs:
-  %    - stewart - A structure with the following fields
-  %        - H   [1x1] - Total height of the platform [m]
-  %    - args - Can have the following fields:
-  %        - Hc  [1x1] - Height of the "useful" part of the cube [m]
-  %        - FOc [1x1] - Height of the center of the cube with respect to {F} [m]
-  %        - FHa [1x1] - Height of the plane joining the points ai with respect to the frame {F} [m]
-  %        - MHb [1x1] - Height of the plane joining the points bi with respect to the frame {M} [m]
-  %
-  % Outputs:
-  %    - stewart - updated Stewart structure with the added fields:
-  %        - Fa  [3x6] - Its i'th column is the position vector of joint ai with respect to {F}
-  %        - Mb  [3x6] - Its i'th column is the position vector of joint bi with respect to {M}
-#+end_src
-
-*** Documentation
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-#+name: fig:cubic-configuration-definition
-#+caption: Cubic Configuration
-[[file:figs/cubic-configuration-definition.png]]
-
-*** Optional Parameters
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-#+begin_src matlab
-  arguments
-      stewart
-      args.Hc  (1,1) double {mustBeNumeric, mustBePositive} = 60e-3
-      args.FOc (1,1) double {mustBeNumeric} = 50e-3
-      args.FHa (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
-      args.MHb (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
-  end
-#+end_src
-
-*** Position of the Cube
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-We define the useful points of the cube with respect to the Cube's center.
-${}^{C}C$ are the 6 vertices of the cubes expressed in a frame {C} which is
-located at the center of the cube and aligned with {F} and {M}.
-
-#+begin_src matlab
-  sx = [ 2; -1; -1];
-  sy = [ 0;  1; -1];
-  sz = [ 1;  1;  1];
-
-  R = [sx, sy, sz]./vecnorm([sx, sy, sz]);
-
-  L = args.Hc*sqrt(3);
-
-  Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*args.Hc];
-
-  CCf = [Cc(:,1), Cc(:,3), Cc(:,3), Cc(:,5), Cc(:,5), Cc(:,1)]; % CCf(:,i) corresponds to the bottom cube's vertice corresponding to the i'th leg
-  CCm = [Cc(:,2), Cc(:,2), Cc(:,4), Cc(:,4), Cc(:,6), Cc(:,6)]; % CCm(:,i) corresponds to the top cube's vertice corresponding to the i'th leg
-#+end_src
-
-*** Compute the pose
-:PROPERTIES:
-:UNNUMBERED: t
-:END:
-We can compute the vector of each leg ${}^{C}\hat{\bm{s}}_{i}$ (unit vector from ${}^{C}C_{f}$ to ${}^{C}C_{m}$).
-#+begin_src matlab
-  CSi = (CCm - CCf)./vecnorm(CCm - CCf);
-#+end_src
-
-We now which to compute the position of the joints $a_{i}$ and $b_{i}$.
-#+begin_src matlab
-  stewart.Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
-  stewart.Mb = CCf + [0; 0; args.FOc-stewart.H] + ((stewart.H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi;
-#+end_src
-
 ** =generateGeneralConfiguration=: Generate a Very General Configuration
 :PROPERTIES:
 :header-args:matlab+: :tangle src/generateGeneralConfiguration.m