diff --git a/stewart-architecture.html b/stewart-architecture.html index b033165..1bb3ad2 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 @@ -283,102 +283,102 @@ 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);
@@ -1141,11 +1141,11 @@ stewart.MRb = zeros(3,3,6);
-
-

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

+
+

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

- +

@@ -1153,9 +1153,9 @@ 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
@@ -1179,9 +1179,9 @@ This Matlab function is accessible here
-
-

Optional Parameters

-
+
+

Optional Parameters

+
arguments
     stewart
@@ -1193,9 +1193,9 @@ 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);
 
@@ -1206,11 +1206,11 @@ stewart.dLi = dLi;
-
-

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

+
+

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

- +

@@ -1218,9 +1218,9 @@ This Matlab function is accessible -

Function description

-
+
+

Function description

+
function [stewart] = initializeCylindricalPlatforms(stewart, args)
 % initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
@@ -1252,9 +1252,9 @@ This Matlab function is accessible 
-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1270,9 +1270,9 @@ This Matlab function is accessible 
-
Create the platforms struct

-

+

+
Create the platforms struct

+

 

 
platforms = struct();
 
@@ -1294,9 +1294,9 @@ platforms.Mpi = diag([1/12 
 

 

 
-

-
Save the platforms struct

-

+

+
Save the platforms struct

+

 

 
stewart.platforms = platforms;
 

@@ -1305,11 +1305,11 @@ platforms.Mpi = diag([1/12 
 

 

 
-

-
5.7 initializeCylindricalStruts: Define the inertia of cylindrical struts

+

+
5.7 initializeCylindricalStruts: Define the inertia of cylindrical struts

 

 

-
+
 

 
 

@@ -1317,9 +1317,9 @@ 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
@@ -1351,9 +1351,9 @@ This Matlab function is accessible h
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1369,9 +1369,9 @@ This Matlab function is accessible h
 

 

 
-

-
Create the struts structure

-

+

+
Create the struts structure

+

 

 
struts = struct();
 
@@ -1404,11 +1404,11 @@ struts.Msi = zeros(3, 3, 6);
 

 

 
-

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

+

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

 

 

-
+
 

 
 

@@ -1416,9 +1416,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Function description

-

+

+
Function description

+

 

 
function [stewart] = initializeStrutDynamics(stewart, args)
 % initializeStrutDynamics - Add Stiffness and Damping properties of each strut
@@ -1439,9 +1439,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1453,9 +1453,9 @@ 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;
@@ -1465,11 +1465,11 @@ stewart.Ci = args.Ci;
 

 

 
-

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

+

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

 

 

-
+
 

 
 

@@ -1477,9 +1477,9 @@ 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
@@ -1500,9 +1500,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Optional Parameters

-

+

+
Optional Parameters

+

 

 
arguments
     stewart
@@ -1514,9 +1514,9 @@ This Matlab function is accessible here<
 

 

 
-

-
Add Stiffness and Damping properties of each strut

-

+

+
Add Stiffness and Damping properties of each strut

+

 

 
stewart.Kri = args.Kri;
 stewart.Cri = args.Cri;
@@ -1536,7 +1536,7 @@ stewart.Cri = args.Cri;
 

 

 
Author: Dehaeze Thomas

-
Created: 2020-01-28 mar. 17:13

+
Created: 2020-01-28 mar. 17:18

 

 
 
diff --git a/stewart-architecture.org b/stewart-architecture.org
index bfdef68..a193f37 100644
--- a/stewart-architecture.org
+++ b/stewart-architecture.org
@@ -108,8 +108,8 @@ This is done with the =computeJointsPose= function ([[sec:computeJointsPose][lin
 We may want to initialize the Stewart platform in some position and orientation that corresponds to its rest position.
 
 To do so, we choose:
-- the position of $O_B$ expressed in $\{A\}$ using ${}^AP$
-- the orientation of $\{B\}$ expressed in $\{A\}$ using a rotation matrix ${}^{A}R_{B}$
+- the position of $\bm{O}_B$ expressed in $\{A\}$ using ${}^A\bm{P}$
+- the orientation of $\{B\}$ expressed in $\{A\}$ using a rotation matrix ${}^{A}\bm{R}_{B}$
 
 Then, the function =initializeStewartPose= ([[sec:initializeStewartPose][link]]) compute the corresponding initial and rest position of each of the strut.
 
@@ -162,10 +162,10 @@ This is done with the =initializeJointDynamics= function ([[sec:initializeJointD
 <>
 ** Introduction                                                      :ignore:
 The procedure to define the Stewart platform is the following:
-1. Define the initial position of frames {A}, {B}, {F} and {M}.
+1. Define the initial position of frames $\{A\}$, $\{B\}$, $\{F\}$ and $\{M\}$.
    We do that using the =initializeFramesPositions= function.
-   We have to specify the total height of the Stewart platform $H$ and the position ${}^{M}O_{B}$ of {B} with respect to {M}.
-2. Compute the positions of joints ${}^{F}a_{i}$ and ${}^{M}b_{i}$.
+   We have to specify the total height of the Stewart platform $H$ and the position ${}^{M}\bm{O}_{B}$ of $\{B\}$ with respect to $\{M\}$.
+2. Compute the positions of joints ${}^{F}\bm{a}_{i}$ and ${}^{M}\bm{b}_{i}$.
    We can do that using various methods depending on the wanted architecture:
    - =generateCubicConfiguration= permits to generate a cubic configuration
 3. Compute the position and orientation of the joints with respect to the fixed base and the moving platform.