Add bold to vectors

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Thomas Dehaeze 2020-01-28 17:18:10 +01:00
parent 79eb28f55e
commit 4e6035b6cb
2 changed files with 260 additions and 260 deletions

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@ -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
<<sec:summary_initialization>>
** 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.