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