Rename many files and add functions

JacobianMatrix.m

@@ -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

Position_max.m

@@ -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;

getJacobianMatrix.m

@@ -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

getMaxPositions.m

@@ -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

plot_max_positions.m

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

stewart_init.m

@@ -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
 
-%%
+% Position Matrix
-run JacobianMatrix.m
+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);
+

stewart_parameters.m

@@ -1,7 +1,7 @@
 %% Nass height
-Nass = struct();
+stewart = struct();
-Nass.h = 90; %mm
+stewart.h = 90; %mm
-Nass.jacobian = 174.5; %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