From 70d15e5e844d190b1b67c73f02e4ebd77bbdbbd7 Mon Sep 17 00:00:00 2001 From: Adrien Jublan Date: Thu, 26 Apr 2018 17:13:31 +0200 Subject: [PATCH] first commit --- Test.m | 89 ++++++++++++++++++++++++++++++++++++++++++++++++++ untitled.slx | Bin 0 -> 36027 bytes untitled1.slx | Bin 0 -> 18968 bytes 3 files changed, 89 insertions(+) create mode 100644 Test.m create mode 100644 untitled.slx create mode 100644 untitled1.slx diff --git a/Test.m b/Test.m new file mode 100644 index 0000000..767c7d9 --- /dev/null +++ b/Test.m @@ -0,0 +1,89 @@ +deg2rad = pi/180; +x_axis = [1 0 0]; +y_axis = [0 1 0]; +z_axis = [0 0 1]; + +% Connection points on base and top plate w.r.t. World frame at the center +% of the base plate +pos_base = []; +pos_top = []; +alpha_b = 90*deg2rad; % angle de décalage par rapport à 120 deg (pour positionner les supports bases) +alpha_t = -30*deg2rad; % +- offset angle from 120 degree spacing on top +height = 0.10; % 2 meter height in home configuration +radius_b = 0.130; % rayon emplacement support base +radius_t = 0.100; % top radius in meters +for i = 1:3, + % base points + angle_m_b = (2*pi/3)* (i-1) - alpha_b; + angle_p_b = (2*pi/3)* (i-1) + alpha_b; + pos_base(2*i-1,:) = [radius_b*cos(angle_m_b), radius_b*sin(angle_m_b), 0.0]; + pos_base(2*i,:) = [radius_b*cos(angle_p_b), radius_b*sin(angle_p_b), 0.0]; + + % top points + % Top points are 60 degrees offset + angle_m_t = (2*pi/3)* (i-1) - alpha_t + 2*pi/6; + angle_p_t = (2*pi/3)* (i-1) + alpha_t + 2*pi/6; + pos_top(2*i-1,:) = [radius_t*cos(angle_m_t), radius_t*sin(angle_m_t), height]; + pos_top(2*i,:) = [radius_t*cos(angle_p_t), radius_t*sin(angle_p_t), height]; +end +% permute pos_top points so that legs are end points of base and top points +pos_top = [pos_top(6,:); pos_top(1:5,:)]; %6th point on top connects to 1st on bottom +pos_top_tranform = pos_top - height*[zeros(6, 2),ones(6, 1)]; +% Compute points w.r.t. to the body frame in a 3x6 matrix +body_pts = pos_top' - height*[zeros(2,6);ones(1,6)]; + +% leg vectors +legs = pos_top - pos_base; +leg_length = [ ]; +leg_vectors = [ ]; +for i = 1:6, + leg_length(i) = norm(legs(i,:)); + leg_vectors(i,:) = legs(i,:) / leg_length(i); +end + +% Calculate revolute and cylindrical axes +for i = 1:6, + rev1(i,:) = cross(leg_vectors(i,:), z_axis); + rev1(i,:) = rev1(i,:) / norm(rev1(i,:)); + rev2(i,:) = - cross(rev1(i,:), leg_vectors(i,:)); + rev2(i,:) = rev2(i,:) / norm(rev2(i,:)); + cyl1(i,:) = leg_vectors(i,:); + rev3(i,:) = rev1(i,:); + rev4(i,:) = rev2(i,:); +end + + +% Coordinate systems +lower_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]); +upper_leg = struct('origin', [0 0 0], 'rotation', eye(3), 'end_point', [0 0 0]); + +for i = 1:6, + lower_leg(i).origin = pos_base(i,:) + (3/8)*legs(i,:); + lower_leg(i).end_point = pos_base(i,:) + (3/4)*legs(i,:); + lower_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; + upper_leg(i).origin = pos_base(i,:) + (1-3/8)*legs(i,:); + upper_leg(i).end_point = pos_base(i,:) + (1/4)*legs(i,:); + upper_leg(i).rotation = [rev1(i,:)', rev2(i,:)', cyl1(i,:)']; +end + +% Inertia and mass calculation +top_thickness = 0.05; +base_thickness = 0.05; +inner_radius = 0.03; +outer_radius = 0.05; +density = 76e3/9.81; % steel density in Kg/m^3 + +%leg inertia and mass +[lower_leg_mass, lower_leg_inertia] = inertiaCylinder(density, ... + 0.75*leg_length(1),outer_radius, inner_radius); +[upper_leg_mass, upper_leg_inertia] = inertiaCylinder(density, ... + 0.75*leg_length(1),inner_radius, 0); + +% top and base plate mass and inertia +[top_mass, top_inertia] = inertiaCylinder(density, ... + top_thickness, radius_t, 0); +[base_mass, base_inertia] = inertiaCylinder(density, ... + base_thickness,radius_b, 0); + +% PID controller gains +Kp = 2e6; Ki = 1e4; Kd = 4.5e4; diff --git a/untitled.slx b/untitled.slx new file mode 100644 index 0000000000000000000000000000000000000000..8b11b3d8fa4f94726edb3a8085dda3c1f53080e3 GIT binary patch literal 36027 zcma&s1yCGI!!T;x-3jjQ7Th7YF0R4d-Q5Bq5ZocyF7EE`4#6R~yUXRA^PT^`@BMDw zy7g4gbnW)mv`zO;_bAIjLScb{fx&^%+oj7##SP5>z`?+pA;7>0K0dWGb2Txy@#6HXfq|2Eb3JId$SL=p$5`eMTh5BIi^+{2BX>Bp8pV~yCtY0*!_LHAus z9@tV5;=ORF7Z7a7bFZ|f=|{Gr!Y1Hb%_(Fv3Mx$G#WjDHOB6!_?im-WdL>eRz^?170&Pue?&6JJ3S^l_qe5Gx3Op zBZ&d_B;a(2+#Py&``4P~)UM6vNcVAe3<>=csJfG?klzI^ZJy^3=tt7`CMz{8%Kz0G z=viyr10Ss*{m~*s|JfRL9{;;N%)XD>L$D!922hQ3U>b=7%zEO80FsBWseNDbWin|| zzCZfZ7_o_`H2B7y&$mh=ZHI^XxWo!LgyhY)QATi5D1%q65qtw>;(W*2>f zaYk7evn!p8T^;KcG6*TIju|$dvQ`|&e%}6}m)b#=|L7;WeSxa8dU!|E^%w~rG)<^G zb*c^8Z5Vgh9mo9d3P9|WFG%?)_{>M3{{N}~Nl#ZZdlxGQ`@edoeq1+7Fe@5#K;iFJ zJ5kIz<~EG%U`4 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