initializeFramesPositions: Initialize the positions of frames {A}, {B}, {F} and {M}
+initializeFramesPositions: Initialize the positions of frames {A}, {B}, {F} and {M}
generateCubicConfiguration: Generate a Cubic Configuration
+generateCubicConfiguration: Generate a Cubic Configuration
generateGeneralConfiguration: Generate a Very General Configuration
+generateGeneralConfiguration: Generate a Very General Configuration
computeJointsPose: Compute the Pose of the Joints
+computeJointsPose: Compute the Pose of the Joints
initializeStewartPose: Determine the initial stroke in each leg to have the wanted pose
+initializeStewartPose: Determine the initial stroke in each leg to have the wanted pose
initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms
+initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms
initializeCylindricalStruts: Define the inertia of cylindrical struts
+initializeCylindricalStruts: Define the inertia of cylindrical struts
initializeStrutDynamics: Add Stiffness and Damping properties of each strut
+initializeStrutDynamics: Add Stiffness and Damping properties of each strut
initializeJointDynamics: Add Stiffness and Damping properties for spherical joints
+initializeJointDynamics: Add Stiffness and Damping properties for spherical joints
stewart.FRa = zeros(3,3,6); stewart.MRb = zeros(3,3,6); @@ -1141,11 +1126,11 @@ stewart.MRb = zeros(3,3,6);
initializeStewartPose: Determine the initial stroke in each leg to have the wanted poseinitializeStewartPose: Determine the initial stroke in each leg to have the wanted pose@@ -1153,9 +1138,9 @@ This Matlab function is accessible here
function [stewart] = initializeStewartPose(stewart, args) % initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose @@ -1179,9 +1164,9 @@ This Matlab function is accessible here
arguments
stewart
@@ -1193,9 +1178,9 @@ This Matlab function is accessible here
[Li, dLi] = inverseKinematics(stewart, 'AP', args.AP, 'ARB', args.ARB); @@ -1206,11 +1191,11 @@ stewart.dLi = dLi;
initializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile PlatformsinitializeCylindricalPlatforms: Initialize the geometry of the Fixed and Mobile Platforms
@@ -1218,9 +1203,9 @@ This Matlab function is accessible
-
@@ -1317,9 +1302,9 @@ This Matlab function is accessible h
@@ -1416,9 +1401,9 @@ This Matlab function is accessible here<
@@ -1477,9 +1462,9 @@ This Matlab function is accessible here<
Created: 2020-01-28 mar. 17:18 Created: 2020-01-29 mer. 16:49Function description
-Function description
+function [stewart] = initializeCylindricalPlatforms(stewart, args)
% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms
@@ -1252,9 +1237,9 @@ This Matlab function is accessible
-
Optional Parameters
-Optional Parameters
+arguments
stewart
@@ -1270,9 +1255,9 @@ This Matlab function is accessible
-Create the
-platforms structCreate the
+platforms structplatforms = struct();
@@ -1294,9 +1279,9 @@ platforms.Mpi = diag([1/12
Save the
-platforms structSave the
+platforms structstewart.platforms = platforms;
@@ -1305,11 +1290,11 @@ platforms.Mpi = diag([1/12
5.7
+initializeCylindricalStruts: Define the inertia of cylindrical struts5.7
initializeCylindricalStruts: Define the inertia of cylindrical strutsFunction description
-Function description
+function [stewart] = initializeCylindricalStruts(stewart, args)
% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts
@@ -1351,9 +1336,9 @@ This Matlab function is accessible h
Optional Parameters
-Optional Parameters
+arguments
stewart
@@ -1369,9 +1354,9 @@ This Matlab function is accessible h
Create the
-struts structureCreate the
+struts structurestruts = struct();
@@ -1404,11 +1389,11 @@ struts.Msi = zeros(3, 3, 6);
5.8
+initializeStrutDynamics: Add Stiffness and Damping properties of each strut5.8
initializeStrutDynamics: Add Stiffness and Damping properties of each strutFunction description
-Function description
+function [stewart] = initializeStrutDynamics(stewart, args)
% initializeStrutDynamics - Add Stiffness and Damping properties of each strut
@@ -1439,23 +1424,23 @@ This Matlab function is accessible here<
Optional Parameters
-Optional Parameters
+arguments
stewart
- args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6*ones(6,1)
- args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e1*ones(6,1)
+ args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e6*ones(6,1)
+ args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
end
Add Stiffness and Damping properties of each strut
-Add Stiffness and Damping properties of each strut
+stewart.Ki = args.Ki;
stewart.Ci = args.Ci;
@@ -1465,11 +1450,11 @@ stewart.Ci = args.Ci;
5.9
+initializeJointDynamics: Add Stiffness and Damping properties for spherical joints5.9
initializeJointDynamics: Add Stiffness and Damping properties for spherical jointsFunction description
-Function description
+function [stewart] = initializeJointDynamics(stewart, args)
% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
@@ -1488,38 +1473,46 @@ This Matlab function is accessible here<
%
% Inputs:
% - args - Structure with the following fields:
-% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
-% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
+% - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
+% - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)]
+% - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad]
+% - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)]
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
-% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
-% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
+% - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
+% - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)]
+% - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad]
+% - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)]
Optional Parameters
-Optional Parameters
+arguments
stewart
- args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
- args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
+ args.Kti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
+ args.Cti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
+ args.Kbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
+ args.Cbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
end
Add Stiffness and Damping properties of each strut
-Add Stiffness and Damping properties of each strut
+stewart.Kri = args.Kri;
-stewart.Cri = args.Cri;
+
stewart.Kti = args.Kti;
+stewart.Cti = args.Cti;
+stewart.Kbi = args.Kbi;
+stewart.Cbi = args.Cbi;