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Remove old functions

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Thomas Dehaeze 2020-01-29 13:21:30 +01:00
parent 4016612cac
commit 56e96fa616
1 changed files with 2 additions and 94 deletions
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kinematic-study.org
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@ -21,7 +21,8 @@
#+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :output-dir figs
:END: :END:
* Matlab Init :noexport:ignore: * Introduction :ignore:
* Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>> <<matlab-dir>>
#+end_src #+end_src
@ -88,100 +89,7 @@ First, we estimate the needed actuator stroke for "pure" rotations and translati
#+RESULTS: #+RESULTS:
: From -1.2e-05[m] to 1.1e-05[m]: Total stroke = 22.9[um] : From -1.2e-05[m] to 1.1e-05[m]: Total stroke = 22.9[um]
** Needed stroke for combined translations and rotations
Now, we combine translations and rotations, and we try to find the worst case (that we suppose to happen at the border).
#+begin_src matlab :results none
Lmax = 0;
Lmin = 0;
pos = [0, 0, 0, 0, 0];
for Tx = [-Tx_max,Tx_max]
for Ty = [-Ty_max,Ty_max]
for Tz = [-Tz_max,Tz_max]
for Rx = [-Rx_max,Rx_max]
for Ry = [-Ry_max,Ry_max]
lmax = max(stewart.Jd*[Tx Ty Tz Rx Ry 0]');
lmin = min(stewart.Jd*[Tx Ty Tz Rx Ry 0]');
if lmax > Lmax
Lmax = lmax;
pos = [Tx Ty Tz Rx Ry];
end
if lmin < Lmin
Lmin = lmin;
end
end
end
end
end
end
#+end_src
We obtain a needed stroke shown below (almost two times the needed stroke for "pure" rotations and translations).
#+begin_src matlab :results value :exports results
ans = sprintf('From %.2g[m] to %.2g[m]: Total stroke = %.1f[um]', Lmin, Lmax, 1e6*(Lmax-Lmin))
#+end_src
#+RESULTS:
: From -3.1e-05[m] to 3.1e-05[m]: Total stroke = 61.5[um]
* Maximum Stroke
From a specified actuator stroke, we try to estimate the available maneuverability of the Stewart platform.
#+begin_src matlab :results silent
[X, Y, Z] = getMaxPositions(stewart);
#+end_src
#+begin_src matlab :results silent
figure;
plot3(X, Y, Z, 'k-')
#+end_src
* Functions * Functions
:PROPERTIES:
:HEADER-ARGS:matlab+: :exports code
:HEADER-ARGS:matlab+: :comments no
:HEADER-ARGS:matlab+: :mkdir yes
:HEADER-ARGS:matlab+: :eval no
:END:
** getMaxPositions
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle src/getMaxPositions.m
:END:
#+begin_src matlab
function [X, Y, Z] = getMaxPositions(stewart)
Leg = stewart.Leg;
J = stewart.Jd;
theta = linspace(0, 2*pi, 100);
phi = linspace(-pi/2 , pi/2, 100);
dmax = zeros(length(theta), length(phi));
for i = 1:length(theta)
for j = 1:length(phi)
L = J*[cos(phi(j))*cos(theta(i)) cos(phi(j))*sin(theta(i)) sin(phi(j)) 0 0 0]';
dmax(i, j) = Leg.stroke/max(abs(L));
end
end
X = dmax.*cos(repmat(phi,length(theta),1)).*cos(repmat(theta,length(phi),1))';
Y = dmax.*cos(repmat(phi,length(theta),1)).*sin(repmat(theta,length(phi),1))';
Z = dmax.*sin(repmat(phi,length(theta),1));
end
#+end_src
** getMaxPureDisplacement
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle src/getMaxPureDisplacement.m
:END:
#+begin_src matlab
function [max_disp] = getMaxPureDisplacement(Leg, J)
max_disp = zeros(6, 1);
max_disp(1) = Leg.stroke/max(abs(J*[1 0 0 0 0 0]'));
max_disp(2) = Leg.stroke/max(abs(J*[0 1 0 0 0 0]'));
max_disp(3) = Leg.stroke/max(abs(J*[0 0 1 0 0 0]'));
max_disp(4) = Leg.stroke/max(abs(J*[0 0 0 1 0 0]'));
max_disp(5) = Leg.stroke/max(abs(J*[0 0 0 0 1 0]'));
max_disp(6) = Leg.stroke/max(abs(J*[0 0 0 0 0 1]'));
end
#+end_src
** =computeJacobian=: Compute the Jacobian Matrix ** =computeJacobian=: Compute the Jacobian Matrix
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle src/computeJacobian.m :header-args:matlab+: :tangle src/computeJacobian.m