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Thomas Dehaeze
2020-02-11 15:50:52 +01:00
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"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 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Stewart Platforms</title>
@@ -254,14 +254,14 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgff0bfd7">Simulink Project (link)</a></li>
<li><a href="#org38b9089">Stewart Platform Architecture Definition (link)</a></li>
<li><a href="#orgf1c7b3b">Simscape Model of the Stewart Platform (link)</a></li>
<li><a href="#org369c8bb">Kinematic Analysis (link)</a></li>
<li><a href="#org2e3169e">Identification of the Stewart Dynamics (link)</a></li>
<li><a href="#orgc3a4c87">Active Damping (link)</a></li>
<li><a href="#org5b4e9b0">Motion Control of the Stewart Platform (link)</a></li>
<li><a href="#org1f468b1">Cubic Configuration (link)</a></li>
<li><a href="#orgff0bfd7">1. Simulink Project (link)</a></li>
<li><a href="#org38b9089">2. Stewart Platform Architecture Definition (link)</a></li>
<li><a href="#orgf1c7b3b">3. Simscape Model of the Stewart Platform (link)</a></li>
<li><a href="#org369c8bb">4. Kinematic Analysis (link)</a></li>
<li><a href="#org2e3169e">5. Identification of the Stewart Dynamics (link)</a></li>
<li><a href="#orgc3a4c87">6. Active Damping (link)</a></li>
<li><a href="#org5b4e9b0">7. Motion Control of the Stewart Platform (link)</a></li>
<li><a href="#org1f468b1">8. Cubic Configuration (link)</a></li>
</ul>
</div>
</div>
@@ -275,8 +275,8 @@ The project is divided into several section listed below.
</p>
<div id="outline-container-orgff0bfd7" class="outline-2">
<h2 id="orgff0bfd7">Simulink Project (<a href="simulink-project.html">link</a>)</h2>
<div class="outline-text-2" id="text-orgff0bfd7">
<h2 id="orgff0bfd7"><span class="section-number-2">1</span> Simulink Project (<a href="simulink-project.html">link</a>)</h2>
<div class="outline-text-2" id="text-1">
<p>
The project is managed with a <b>Simulink Project</b>.
Such project is briefly presented <a href="simulink-project.html">here</a>.
@@ -285,8 +285,8 @@ Such project is briefly presented <a href="simulink-project.html">here</a>.
</div>
<div id="outline-container-org38b9089" class="outline-2">
<h2 id="org38b9089">Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2>
<div class="outline-text-2" id="text-org38b9089">
<h2 id="org38b9089"><span class="section-number-2">2</span> Stewart Platform Architecture Definition (<a href="stewart-architecture.html">link</a>)</h2>
<div class="outline-text-2" id="text-2">
<p>
The way the Stewart Platform is defined <a href="stewart-architecture.html">here</a>.
</p>
@@ -311,8 +311,8 @@ Other parameters are also defined such as:
</div>
<div id="outline-container-orgf1c7b3b" class="outline-2">
<h2 id="orgf1c7b3b">Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2>
<div class="outline-text-2" id="text-orgf1c7b3b">
<h2 id="orgf1c7b3b"><span class="section-number-2">3</span> Simscape Model of the Stewart Platform (<a href="simscape-model.html">link</a>)</h2>
<div class="outline-text-2" id="text-3">
<p>
The Stewart Platform is then modeled using <a href="https://www.mathworks.com/products/simscape.html">Simscape</a>.
</p>
@@ -324,8 +324,8 @@ The way to model is build and works is explained <a href="simscape-model.html">h
</div>
<div id="outline-container-org369c8bb" class="outline-2">
<h2 id="org369c8bb">Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2>
<div class="outline-text-2" id="text-org369c8bb">
<h2 id="org369c8bb"><span class="section-number-2">4</span> Kinematic Analysis (<a href="kinematic-study.html">link</a>)</h2>
<div class="outline-text-2" id="text-4">
<p>
From the defined geometry of the Stewart platform, we can perform static analysis such as:
</p>
@@ -345,8 +345,8 @@ All these analysis are described <a href="kinematic-study.html">here</a>.
</div>
<div id="outline-container-org2e3169e" class="outline-2">
<h2 id="org2e3169e">Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2>
<div class="outline-text-2" id="text-org2e3169e">
<h2 id="org2e3169e"><span class="section-number-2">5</span> Identification of the Stewart Dynamics (<a href="identification.html">link</a>)</h2>
<div class="outline-text-2" id="text-5">
<p>
The Dynamics of the Stewart platform can be identified using the Simscape model.
</p>
@@ -367,8 +367,8 @@ The code that is used for identification is explained <a href="identification.ht
</div>
<div id="outline-container-orgc3a4c87" class="outline-2">
<h2 id="orgc3a4c87">Active Damping (<a href="active-damping.html">link</a>)</h2>
<div class="outline-text-2" id="text-orgc3a4c87">
<h2 id="orgc3a4c87"><span class="section-number-2">6</span> Active Damping (<a href="active-damping.html">link</a>)</h2>
<div class="outline-text-2" id="text-6">
<p>
The use of different sensors are compared for active damping:
</p>
@@ -386,8 +386,8 @@ The result of the analysis is accessible <a href="active-damping.html">here</a>.
</div>
<div id="outline-container-org5b4e9b0" class="outline-2">
<h2 id="org5b4e9b0">Motion Control of the Stewart Platform (<a href="control-study.html">link</a>)</h2>
<div class="outline-text-2" id="text-org5b4e9b0">
<h2 id="org5b4e9b0"><span class="section-number-2">7</span> Motion Control of the Stewart Platform (<a href="control-study.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in <a href="control-study.html">this</a> document.
</p>
@@ -395,8 +395,8 @@ Some control architecture for motion control of the Stewart platform are applied
</div>
<div id="outline-container-org1f468b1" class="outline-2">
<h2 id="org1f468b1">Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
<div class="outline-text-2" id="text-org1f468b1">
<h2 id="org1f468b1"><span class="section-number-2">8</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
<div class="outline-text-2" id="text-8">
<p>
The cubic configuration is a special class of Stewart platform that has interesting properties.
</p>
@@ -409,7 +409,7 @@ These properties are studied in <a href="cubic-configuration.html">this</a> docu
</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>