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Thomas Dehaeze
2020-02-11 15:50:52 +01:00
parent f684653af8
commit 799b63d2a4
21 changed files with 778 additions and 738 deletions
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docs/dynamics-study.html
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@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-02-11 mar. 15:27 -->
<!-- 2020-02-11 mar. 15:50 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Stewart Platform - Dynamics Study</title>
@@ -268,13 +268,13 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgdae5fe1">Some tests</a>
<li><a href="#orgdae5fe1">1. Some tests</a>
<ul>
<li><a href="#orga032902">Simscape Model</a></li>
<li><a href="#orgdbd3cde">test</a></li>
<li><a href="#orgc59e712">Compare external forces and forces applied by the actuators</a></li>
<li><a href="#org81ab204">Comparison of the static transfer function and the Compliance matrix</a></li>
<li><a href="#orge663148">Transfer function from forces applied in the legs to the displacement of the legs</a></li>
<li><a href="#orga032902">1.1. Simscape Model</a></li>
<li><a href="#orgdbd3cde">1.2. test</a></li>
<li><a href="#orgc59e712">1.3. Compare external forces and forces applied by the actuators</a></li>
<li><a href="#org81ab204">1.4. Comparison of the static transfer function and the Compliance matrix</a></li>
<li><a href="#orge663148">1.5. Transfer function from forces applied in the legs to the displacement of the legs</a></li>
</ul>
</li>
</ul>
@@ -282,12 +282,12 @@ for the JavaScript code in this tag.
</div>
<div id="outline-container-orgdae5fe1" class="outline-2">
<h2 id="orgdae5fe1">Some tests</h2>
<div class="outline-text-2" id="text-orgdae5fe1">
<h2 id="orgdae5fe1"><span class="section-number-2">1</span> Some tests</h2>
<div class="outline-text-2" id="text-1">
</div>
<div id="outline-container-orga032902" class="outline-3">
<h3 id="orga032902">Simscape Model</h3>
<div class="outline-text-3" id="text-orga032902">
<h3 id="orga032902"><span class="section-number-3">1.1</span> Simscape Model</h3>
<div class="outline-text-3" id="text-1-1">
<div class="org-src-container">
<pre class="src src-matlab">open(<span class="org-string">'stewart_platform_dynamics.slx'</span>)
</pre>
@@ -296,8 +296,8 @@ for the JavaScript code in this tag.
</div>
<div id="outline-container-orgdbd3cde" class="outline-3">
<h3 id="orgdbd3cde">test</h3>
<div class="outline-text-3" id="text-orgdbd3cde">
<h3 id="orgdbd3cde"><span class="section-number-3">1.2</span> test</h3>
<div class="outline-text-3" id="text-1-2">
<div class="org-src-container">
<pre class="src src-matlab">stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
@@ -397,8 +397,8 @@ bode(Gd, G)
</div>
<div id="outline-container-orgc59e712" class="outline-3">
<h3 id="orgc59e712">Compare external forces and forces applied by the actuators</h3>
<div class="outline-text-3" id="text-orgc59e712">
<h3 id="orgc59e712"><span class="section-number-3">1.3</span> Compare external forces and forces applied by the actuators</h3>
<div class="outline-text-3" id="text-1-3">
<p>
Initialization of the Stewart platform.
</p>
@@ -482,8 +482,8 @@ Seems quite similar.
</div>
<div id="outline-container-org81ab204" class="outline-3">
<h3 id="org81ab204">Comparison of the static transfer function and the Compliance matrix</h3>
<div class="outline-text-3" id="text-org81ab204">
<h3 id="org81ab204"><span class="section-number-3">1.4</span> Comparison of the static transfer function and the Compliance matrix</h3>
<div class="outline-text-3" id="text-1-4">
<p>
Initialization of the Stewart platform.
</p>
@@ -685,8 +685,8 @@ The low frequency transfer function matrix from \(\mathcal{\bm{F}}\) to \(\mathc
</div>
<div id="outline-container-orge663148" class="outline-3">
<h3 id="orge663148">Transfer function from forces applied in the legs to the displacement of the legs</h3>
<div class="outline-text-3" id="text-orge663148">
<h3 id="orge663148"><span class="section-number-3">1.5</span> Transfer function from forces applied in the legs to the displacement of the legs</h3>
<div class="outline-text-3" id="text-1-5">
<p>
Initialization of the Stewart platform.
</p>
@@ -742,7 +742,7 @@ G.OutputName = {<span class="org-string">'L1'</span>, <span class="org-string">'
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-11 mar. 15:27</p>
<p class="date">Created: 2020-02-11 mar. 15:50</p>
</div>
</body>
</html>