Rename many files and add functions

This commit is contained in:
Thomas Dehaeze 2018-05-03 18:14:24 +02:00
parent 5b516fa730
commit 6e4d033fd2
9 changed files with 58 additions and 58 deletions

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@ -1,27 +0,0 @@
%% Position Matrix
M_pos_base = pos_base + (height+(TP.thickness+Leg.sphere.top+SP.thickness.top+Nass.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
%% Rotation Matrix
RM = leg_vectors;
%%
J = computeJacobian(RM, M_pos_base);
%% Jacobian Matrix
function J = computeJacobian(RM,M_pos_base)
J = zeros(6);
J(:, 1:3) = RM;
for i = 1:6
J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :));
end
function M = getCrossProductMatrix(v)
M = zeros(3);
M(1, 2) = -v(3);
M(1, 3) = v(2);
M(2, 3) = -v(1);
M(2, 1) = -M(1, 2);
M(3, 1) = -M(1, 3);
M(3, 2) = -M(2, 3);
end
end

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@ -1,23 +0,0 @@
lmax = 80e-6;
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]';
lmaxbis = max(abs(L));
dmax(i, j) = lmax/lmaxbis;
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));
figure;
hold on;
mesh(X, Y, Z);
colorbar;
hold off;

18
getJacobianMatrix.m Normal file
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@ -0,0 +1,18 @@
function J = getJacobianMatrix(RM,M_pos_base)
J = zeros(6);
J(:, 1:3) = RM;
for i = 1:6
J(i, 4:6) = -RM(i, :)*getCrossProductMatrix(M_pos_base(i, :));
end
function M = getCrossProductMatrix(v)
M = zeros(3);
M(1, 2) = -v(3);
M(1, 3) = v(2);
M(2, 3) = -v(1);
M(2, 1) = -M(1, 2);
M(3, 1) = -M(1, 3);
M(3, 2) = -M(2, 3);
end
end

16
getMaxPositions.m Normal file
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@ -0,0 +1,16 @@
function [X, Y, Z] = getMaxPositions(lmax, J)
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) = lmax/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

10
plot_max_positions.m Normal file
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@ -0,0 +1,10 @@
lmax = 80e-6;
[X, Y, Z] = getMaxPositions(lmax, J);
figure;
hold on;
mesh(X, Y, Z);
colorbar;
hold off;

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@ -1,8 +1,10 @@
%%
clear;
close all;
clc;
%%
run Design_Nass.m
run stewart_parameters.m
%%
deg2rad = pi/180;
@ -16,7 +18,7 @@ pos_base = [];
pos_top = [];
alpha_b = BP.leg.ang*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases)
alpha_t = TP.leg.ang*deg2rad; % +- offset angle from 120 degree spacing on top
height = (Nass.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001 ; % 2 meter height in home configuration
height = (stewart.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001 ; % 2 meter height in home configuration
radius_b = BP.leg.rad*0.001; % rayon emplacement support base
radius_t = TP.leg.rad*0.001; % top radius in meters
for i = 1:3
@ -75,5 +77,9 @@ for i = 1:6
upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)'];
end
%%
run JacobianMatrix.m
% Position Matrix
M_pos_base = pos_base + (height+(TP.thickness+Leg.sphere.top+SP.thickness.top+stewart.jacobian)*1e-3)*[zeros(6, 2),ones(6, 1)];
% Compute Jacobian Matrix
J = getJacobianMatrix(leg_vectors, M_pos_base);

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@ -1,7 +1,7 @@
%% Nass height
Nass = struct();
Nass.h = 90; %mm
Nass.jacobian = 174.5; %mm
stewart = struct();
stewart.h = 90; %mm
stewart.jacobian = 174.5; %mm
%% Bottom Plate
BP = struct();
@ -30,7 +30,7 @@ Leg.rad.top = 5 ; %mm
Leg.sphere.bottom = 10 ; % mm
Leg.sphere.top = 8 ; % mm
Leg.density = 8000 ; %kg/m^3
Leg.lenght = Nass.h; % mm (approximate)
Leg.lenght = stewart.h; % mm (approximate)
Leg.m = Leg.density*2*pi*((Leg.rad.bottom*1e-3)^2)*(Leg.lenght*1e-3); %kg
Leg.color.bottom = [0.5 0.5 0.5] ; %rgb
Leg.color.top = [0.5 0.5 0.5] ; %rgb

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stewart_simscape.slx Normal file

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