Add DRAWER to index.org
This commit is contained in:
parent
057ac440aa
commit
54109bf1d7
245
index.org
245
index.org
@ -1,4 +1,52 @@
|
||||
#+TITLE: Stewart Platform with Simscape
|
||||
:DRAWER:
|
||||
#+STARTUP: overview
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="js/readtheorg.js"></script>
|
||||
|
||||
#+LATEX_CLASS: cleanreport
|
||||
#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak, minted]
|
||||
#+LaTeX_HEADER: \newcommand{\authorFirstName}{Thomas}
|
||||
#+LaTeX_HEADER: \newcommand{\authorLastName}{Dehaeze}
|
||||
#+LaTeX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
|
||||
|
||||
#+PROPERTY: header-args:matlab :session *MATLAB*
|
||||
#+PROPERTY: header-args:matlab+ :comments org
|
||||
#+PROPERTY: header-args:matlab+ :exports both
|
||||
#+PROPERTY: header-args:matlab+ :eval no-export
|
||||
#+PROPERTY: header-args:matlab+ :output-dir figs
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
:END:
|
||||
|
||||
#+begin_src matlab :results none
|
||||
<<matlab-init>>
|
||||
addpath('src');
|
||||
addpath('library');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none
|
||||
open stewart_identification
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results output
|
||||
initializeSample(struct('mass', 50));
|
||||
initializeHexapod(struct('actuator', 'piezo'));
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
: initializeSample(struct('mass', 50));
|
||||
: initializeHexapod(struct('actuator', 'piezo'));
|
||||
|
||||
#+begin_src matlab
|
||||
G = identifyPlant();
|
||||
#+end_src
|
||||
|
||||
#+RESULTS:
|
||||
|
||||
* Functions
|
||||
:PROPERTIES:
|
||||
@ -122,116 +170,139 @@
|
||||
:PROPERTIES:
|
||||
:HEADER-ARGS:matlab+: :tangle src/initializeHexapod.m
|
||||
:END:
|
||||
The =initializeHexapod= function takes one structure that contains configurations for the hexapod and returns one structure representing the hexapod.
|
||||
|
||||
#+begin_src matlab
|
||||
function [stewart] = initializeHexapod(opts_param)
|
||||
%% Default values for opts
|
||||
opts = struct(...
|
||||
'height', 90, ... % Height of the platform [mm]
|
||||
'jacobian', 150, ... % Jacobian offset [mm]
|
||||
'density', 8000, ... % Density of hexapod [mm]
|
||||
'name', 'stewart' ... % Name of the file
|
||||
);
|
||||
#+end_src
|
||||
|
||||
%% Populate opts with input parameters
|
||||
Default values for opts
|
||||
|
||||
#+begin_src matlab
|
||||
opts = struct(...
|
||||
'height', 90, ... % Height of the platform [mm]
|
||||
'jacobian', 150, ... % Jacobian offset [mm]
|
||||
'density', 8000, ... % Density of hexapod [mm]
|
||||
'name', 'stewart' ... % Name of the file
|
||||
);
|
||||
#+end_src
|
||||
|
||||
Populate opts with input parameters
|
||||
#+begin_src matlab
|
||||
if exist('opts_param','var')
|
||||
for opt = fieldnames(opts_param)'
|
||||
opts.(opt{1}) = opts_param.(opt{1});
|
||||
end
|
||||
end
|
||||
#+end_src
|
||||
|
||||
%% Stewart Object
|
||||
stewart = struct();
|
||||
stewart.h = opts.height; % Total height of the platform [mm]
|
||||
stewart.jacobian = opts.jacobian; % distance from the center of the top platform
|
||||
% where the jacobian is computed [mm]
|
||||
Stewart Object
|
||||
#+begin_src matlab
|
||||
stewart = struct();
|
||||
stewart.h = opts.height; % Total height of the platform [mm]
|
||||
stewart.jacobian = opts.jacobian; % Distance from the center of the top platform
|
||||
% where the jacobian is computed [mm]
|
||||
#+end_src
|
||||
|
||||
%% Bottom Plate
|
||||
BP = struct();
|
||||
Bottom Plate
|
||||
#+begin_src matlab
|
||||
BP = struct();
|
||||
|
||||
BP.rad.int = 0; % Internal Radius [mm]
|
||||
BP.rad.ext = 150; % External Radius [mm]
|
||||
BP.thickness = 10; % Thickness [mm]
|
||||
BP.leg.rad = 100; % Radius where the legs articulations are positionned [mm]
|
||||
BP.leg.ang = 5; % Angle Offset [deg]
|
||||
BP.density = opts.density; % Density of the material [kg/m3]
|
||||
BP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
|
||||
BP.rad.int = 0; % Internal Radius [mm]
|
||||
BP.rad.ext = 150; % External Radius [mm]
|
||||
BP.thickness = 10; % Thickness [mm]
|
||||
BP.leg.rad = 100; % Radius where the legs articulations are positionned [mm]
|
||||
BP.leg.ang = 45; % Angle Offset [deg]
|
||||
BP.density = opts.density; % Density of the material [kg/m3]
|
||||
BP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
BP.shape = [BP.rad.int BP.thickness; BP.rad.int 0; BP.rad.ext 0; BP.rad.ext BP.thickness];
|
||||
#+end_src
|
||||
|
||||
%% Top Plate
|
||||
TP = struct();
|
||||
Top Plate
|
||||
#+begin_src matlab
|
||||
TP = struct();
|
||||
|
||||
TP.rad.int = 0; % Internal Radius [mm]
|
||||
TP.rad.ext = 100; % Internal Radius [mm]
|
||||
TP.thickness = 10; % Thickness [mm]
|
||||
TP.leg.rad = 90; % Radius where the legs articulations are positionned [mm]
|
||||
TP.leg.ang = 5; % Angle Offset [deg]
|
||||
TP.density = opts.density; % Density of the material [kg/m3]
|
||||
TP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
|
||||
TP.rad.int = 0; % Internal Radius [mm]
|
||||
TP.rad.ext = 100; % Internal Radius [mm]
|
||||
TP.thickness = 10; % Thickness [mm]
|
||||
TP.leg.rad = 90; % Radius where the legs articulations are positionned [mm]
|
||||
TP.leg.ang = 45; % Angle Offset [deg]
|
||||
TP.density = opts.density; % Density of the material [kg/m3]
|
||||
TP.color = [0.7 0.7 0.7]; % Color [rgb]
|
||||
TP.shape = [TP.rad.int TP.thickness; TP.rad.int 0; TP.rad.ext 0; TP.rad.ext TP.thickness];
|
||||
#+end_src
|
||||
|
||||
%% Leg
|
||||
Leg = struct();
|
||||
Leg
|
||||
#+begin_src matlab
|
||||
Leg = struct();
|
||||
|
||||
Leg.stroke = 80e-6; % Maximum Stroke of each leg [m]
|
||||
if strcmp(opts.actuator, 'piezo')
|
||||
Leg.k.ax = 1e7; % Stiffness of each leg [N/m]
|
||||
Leg.c.ax = 500; % [N/(m/s)]
|
||||
elseif strcmp(opts.actuator, 'lorentz')
|
||||
Leg.k.ax = 1e4; % Stiffness of each leg [N/m]
|
||||
Leg.c.ax = 200; % [N/(m/s)]
|
||||
elseif isnumeric(opts.actuator)
|
||||
Leg.k.ax = opts.actuator; % Stiffness of each leg [N/m]
|
||||
Leg.c.ax = 100; % [N/(m/s)]
|
||||
else
|
||||
error('opts.actuator should be piezo or lorentz or numeric value');
|
||||
end
|
||||
Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
|
||||
Leg.rad.top = 10; % Radius of the cylinder of the top part [mm]
|
||||
Leg.density = opts.density; % Density of the material [kg/m3]
|
||||
Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
|
||||
Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
|
||||
Leg.stroke = 80e-6; % Maximum Stroke of each leg [m]
|
||||
if strcmp(opts.actuator, 'piezo')
|
||||
Leg.k.ax = 1e7; % Stiffness of each leg [N/m]
|
||||
Leg.c.ax = 500; % [N/(m/s)]
|
||||
elseif strcmp(opts.actuator, 'lorentz')
|
||||
Leg.k.ax = 1e4; % Stiffness of each leg [N/m]
|
||||
Leg.c.ax = 200; % [N/(m/s)]
|
||||
elseif isnumeric(opts.actuator)
|
||||
Leg.k.ax = opts.actuator; % Stiffness of each leg [N/m]
|
||||
Leg.c.ax = 100; % [N/(m/s)]
|
||||
else
|
||||
error('opts.actuator should be piezo or lorentz or numeric value');
|
||||
end
|
||||
Leg.rad.bottom = 12; % Radius of the cylinder of the bottom part [mm]
|
||||
Leg.rad.top = 10; % Radius of the cylinder of the top part [mm]
|
||||
Leg.density = opts.density; % Density of the material [kg/m3]
|
||||
Leg.color.bottom = [0.5 0.5 0.5]; % Color [rgb]
|
||||
Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
|
||||
|
||||
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
|
||||
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
|
||||
#+end_src
|
||||
|
||||
%% Sphere
|
||||
SP = struct();
|
||||
Sphere
|
||||
#+begin_src matlab
|
||||
SP = struct();
|
||||
|
||||
SP.height.bottom = 15; % [mm]
|
||||
SP.height.top = 15; % [mm]
|
||||
SP.density.bottom = opts.density; % [kg/m^3]
|
||||
SP.density.top = opts.density; % [kg/m^3]
|
||||
SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.color.top = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.k.ax = 0; % [N*m/deg]
|
||||
SP.c.ax = 0; % [N*m/deg]
|
||||
SP.height.bottom = 15; % [mm]
|
||||
SP.height.top = 15; % [mm]
|
||||
SP.density.bottom = opts.density; % [kg/m^3]
|
||||
SP.density.top = opts.density; % [kg/m^3]
|
||||
SP.color.bottom = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.color.top = [0.7 0.7 0.7]; % [rgb]
|
||||
SP.k.ax = 0; % [N*m/deg]
|
||||
SP.c.ax = 0; % [N*m/deg]
|
||||
|
||||
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
|
||||
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
|
||||
SP.rad.bottom = Leg.sphere.bottom; % [mm]
|
||||
SP.rad.top = Leg.sphere.top; % [mm]
|
||||
SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
|
||||
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
|
||||
SP.rad.bottom = Leg.sphere.bottom; % [mm]
|
||||
SP.rad.top = Leg.sphere.top; % [mm]
|
||||
|
||||
|
||||
%%
|
||||
Leg.support.bottom = [0 SP.thickness.bottom; 0 0; SP.rad.bottom 0; SP.rad.bottom SP.height.bottom];
|
||||
Leg.support.top = [0 SP.thickness.top; 0 0; SP.rad.top 0; SP.rad.top SP.height.top];
|
||||
%%
|
||||
Leg.support.bottom = [0 SP.thickness.bottom;
|
||||
0 0;
|
||||
SP.rad.bottom 0;
|
||||
SP.rad.bottom SP.height.bottom];
|
||||
Leg.support.top = [0 SP.thickness.top;
|
||||
0 0;
|
||||
SP.rad.top 0;
|
||||
SP.rad.top SP.height.top];
|
||||
|
||||
%%
|
||||
stewart.BP = BP;
|
||||
stewart.TP = TP;
|
||||
stewart.Leg = Leg;
|
||||
stewart.SP = SP;
|
||||
%%
|
||||
stewart.BP = BP;
|
||||
stewart.TP = TP;
|
||||
stewart.Leg = Leg;
|
||||
stewart.SP = SP;
|
||||
|
||||
%%
|
||||
stewart = initializeParameters(stewart);
|
||||
%%
|
||||
stewart = initializeParameters(stewart);
|
||||
|
||||
%%
|
||||
save('./mat/stewart.mat', 'stewart')
|
||||
|
||||
%% ==============================================================
|
||||
% Additional Functions
|
||||
% ===============================================================
|
||||
%%
|
||||
save('./mat/stewart.mat', 'stewart')
|
||||
#+end_src
|
||||
|
||||
Additional Functions
|
||||
#+begin_src matlab
|
||||
%% Initialize Parameters
|
||||
function [stewart] = initializeParameters(stewart)
|
||||
%% Connection points on base and top plate w.r.t. World frame at the center of the base plate
|
||||
@ -320,8 +391,10 @@
|
||||
|
||||
stewart.K = stewart.Leg.k.ax*stewart.J'*stewart.J;
|
||||
end
|
||||
#+end_src
|
||||
|
||||
%% Compute the Jacobian Matrix
|
||||
Compute the Jacobian Matrix
|
||||
#+begin_src matlab
|
||||
function J = getJacobianMatrix(RM, M_pos_base)
|
||||
% RM - [3x6] unit vector of each leg in the fixed frame
|
||||
% M_pos_base - [3x6] vector of the leg connection at the top platform location in the fixed frame
|
||||
|
||||
Loading…
Reference in New Issue
Block a user