tdehaeze/stewart-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Add bold to vectors

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-01-28 17:18:10 +01:00
parent 79eb28f55e
commit 4e6035b6cb
2 changed files with 260 additions and 260 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

510
stewart-architecture.html
View File

File diff suppressed because it is too large Load Diff

10
stewart-architecture.org
View File

@ -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. We may want to initialize the Stewart platform in some position and orientation that corresponds to its rest position.
To do so, we choose: To do so, we choose:
- the position of $O_B$ expressed in $\{A\}$ using ${}^AP$ - the position of $\bm{O}_B$ expressed in $\{A\}$ using ${}^A\bm{P}$
- the orientation of $\{B\}$ expressed in $\{A\}$ using a rotation matrix ${}^{A}R_{B}$ - 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. 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
<<sec:summary_initialization>> <<sec:summary_initialization>>
** Introduction :ignore: ** Introduction :ignore:
The procedure to define the Stewart platform is the following: 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 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}. 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 ${}^{F}a_{i}$ and ${}^{M}b_{i}$. 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: We can do that using various methods depending on the wanted architecture:
- =generateCubicConfiguration= permits to generate a cubic configuration - =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. 3. Compute the position and orientation of the joints with respect to the fixed base and the moving platform.