tdehaeze/stewart-simscape
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Update some parameters

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This commit is contained in:
Thomas Dehaeze 2018-06-06 17:55:26 +02:00
parent dcae695e55
commit 7f50439a3d
3 changed files with 6 additions and 5 deletions
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5
stewart_init.m
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@ -11,7 +11,7 @@ pos_top = zeros(6, 3);
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 = (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
height = (stewart.h-BP.thickness-TP.thickness-Leg.sphere.bottom-Leg.sphere.top-SP.thickness.bottom-SP.thickness.top)*0.001; % TODO
radius_b = BP.leg.rad*0.001; % rayon emplacement support base
radius_t = TP.leg.rad*0.001; % top radius in meters
@ -86,5 +86,6 @@ end
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);
aa = pos_top_tranform + (stewart.jacobian - TP.thickness - SP.height.top)*1e-3*[zeros(6, 2),ones(6, 1)];
J = getJacobianMatrix(leg_vectors', aa');

6
stewart_parameters.m
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@ -2,7 +2,7 @@
stewart = struct();
stewart.h = 350; % Total height of the platform [mm]
stewart.jacobian = 174.5; % Point where the Jacobian is computed => Center of rotation [mm]
stewart.jacobian = 0; % Point where the Jacobian is computed => Center of rotation [mm]
%% Bottom Plate
BP = struct();
@ -40,7 +40,7 @@ Leg.color.top = [0.5 0.5 0.5]; % Color [rgb]
Leg.sphere.bottom = Leg.rad.bottom; % Size of the sphere at the end of the leg [mm]
Leg.sphere.top = Leg.rad.top; % Size of the sphere at the end of the leg [mm]
Leg.m = TP.density*((2*pi*TP.rad.ext/1000)*(TP.thickness/1000)-(2*pi*TP.rad.int/1000)*(TP.thickness/1000))/6; % TODO [kg/m^3]
Leg.m = TP.density*((pi*(TP.rad.ext/1000)^2)*(TP.thickness/1000)-(pi*(TP.rad.int/1000^2))*(TP.thickness/1000))/6; % TODO [kg]
Leg = updateDamping(Leg);
@ -61,7 +61,7 @@ SP.thickness.bottom = SP.height.bottom-Leg.sphere.bottom; % [mm]
SP.thickness.top = SP.height.top-Leg.sphere.top; % [mm]
SP.rad.bottom = Leg.sphere.bottom; % [mm]
SP.rad.top = Leg.sphere.top; % [mm]
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % [kg]
SP.m = SP.density.bottom*2*pi*((SP.rad.bottom*1e-3)^2)*(SP.height.bottom*1e-3); % TODO [kg]
SP = updateDamping(SP);

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stewart_simscape.slx
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