Add NASS webpage
This commit is contained in:
parent
0faaef06e6
commit
7fad722181
87
docs/nass.html
Normal file
87
docs/nass.html
Normal file
@ -0,0 +1,87 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2020-09-01 mar. 13:18 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<title>Stewart Platform - NASS</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
<meta name="author" content="Dehaeze Thomas" />
|
||||
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
<script src="./js/jquery.min.js"></script>
|
||||
<script src="./js/bootstrap.min.js"></script>
|
||||
<script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
<script src="./js/readtheorg.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="org-div-home-and-up">
|
||||
<a accesskey="h" href="./index.html"> UP </a>
|
||||
|
|
||||
<a accesskey="H" href="./index.html"> HOME </a>
|
||||
</div><div id="content">
|
||||
<h1 class="title">Stewart Platform - NASS</h1>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orgcfc8288">1. NASS</a>
|
||||
<ul>
|
||||
<li><a href="#org278a89b">1.1. Identification of the Dynamics</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcfc8288" class="outline-2">
|
||||
<h2 id="orgcfc8288"><span class="section-number-2">1</span> NASS</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
</div>
|
||||
<div id="outline-container-org278a89b" class="outline-3">
|
||||
<h3 id="org278a89b"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
|
||||
flex_joint = load('./mat/flexor_ID16.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart = initializeStewartPlatform();
|
||||
stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 175e-3);
|
||||
stewart = generateGeneralConfiguration(stewart, 'FH', 20e-3, 'MH', 20e-3, 'FR', 228e-3/2, 'MR', 220e-3/2, 'FTh', [-9, 9, 120-9, 120+9, 240-9, 240+9]*(pi/180), 'MTh', [-60+15, 60-15, 60+15, 180-15, 180+15, -60-15]*(pi/180));
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
|
||||
stewart = initializeJointDynamics(stewart, 'type_F', 'flexible', 'K_F', flex_joint.K, 'M_F', flex_joint.M, 'n_xyz_F', flex_joint.n_xyz, 'xi_F', 0.1, 'step_file_F', 'mat/flexor_ID16.STEP', 'type_M', 'flexible', 'K_M', flex_joint.K, 'M_M', flex_joint.M, 'n_xyz_M', flex_joint.n_xyz, 'xi_M', 0.1, 'step_file_M', 'mat/flexor_ID16.STEP');
|
||||
stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 125e-3);
|
||||
stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart);
|
||||
stewart = initializeInertialSensor(stewart);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">ground = initializeGround('type', 'none');
|
||||
payload = initializePayload('type', 'rigid', 'm', 50);
|
||||
controller = initializeController('type', 'open-loop');
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">disturbances = initializeDisturbances();
|
||||
references = initializeReferences(stewart);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-09-01 mar. 13:18</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
88
org/nass.org
Normal file
88
org/nass.org
Normal file
@ -0,0 +1,88 @@
|
||||
#+TITLE: Stewart Platform - NASS
|
||||
:DRAWER:
|
||||
#+STARTUP: overview
|
||||
|
||||
#+LANGUAGE: en
|
||||
#+EMAIL: dehaeze.thomas@gmail.com
|
||||
#+AUTHOR: Dehaeze Thomas
|
||||
|
||||
#+HTML_LINK_HOME: ./index.html
|
||||
#+HTML_LINK_UP: ./index.html
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
|
||||
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
|
||||
|
||||
#+PROPERTY: header-args:matlab :session *MATLAB*
|
||||
#+PROPERTY: header-args:matlab+ :comments org
|
||||
#+PROPERTY: header-args:matlab+ :exports both
|
||||
#+PROPERTY: header-args:matlab+ :results none
|
||||
#+PROPERTY: header-args:matlab+ :eval no-export
|
||||
#+PROPERTY: header-args:matlab+ :noweb yes
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
#+PROPERTY: header-args:matlab+ :output-dir figs
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
|
||||
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
||||
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
|
||||
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
|
||||
#+PROPERTY: header-args:latex+ :results file raw replace
|
||||
#+PROPERTY: header-args:latex+ :buffer no
|
||||
#+PROPERTY: header-args:latex+ :eval no-export
|
||||
#+PROPERTY: header-args:latex+ :exports results
|
||||
#+PROPERTY: header-args:latex+ :mkdirp yes
|
||||
#+PROPERTY: header-args:latex+ :output-dir figs
|
||||
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
|
||||
:END:
|
||||
|
||||
* NASS
|
||||
** Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
<<matlab-dir>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none :results silent :noweb yes
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
simulinkproject('../');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
open('stewart_platform_model.slx')
|
||||
#+end_src
|
||||
|
||||
** Identification of the Dynamics
|
||||
#+begin_src matlab
|
||||
apa = load('./mat/APA300ML.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
|
||||
flex_joint = load('./mat/flexor_ID16.mat', 'int_xyz', 'int_i', 'n_xyz', 'n_i', 'nodes', 'M', 'K');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
stewart = initializeStewartPlatform();
|
||||
stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 175e-3);
|
||||
stewart = generateGeneralConfiguration(stewart, 'FH', 20e-3, 'MH', 20e-3, 'FR', 228e-3/2, 'MR', 220e-3/2, 'FTh', [-9, 9, 120-9, 120+9, 240-9, 240+9]*(pi/180), 'MTh', [-60+15, 60-15, 60+15, 180-15, 180+15, -60-15]*(pi/180));
|
||||
stewart = computeJointsPose(stewart);
|
||||
stewart = initializeFlexibleStrutDynamics(stewart, 'H', 0.03, 'K', apa.K, 'M', apa.M, 'n_xyz', apa.n_xyz, 'xi', 0.1, 'step_file', 'mat/APA300ML.STEP');
|
||||
stewart = initializeJointDynamics(stewart, 'type_F', 'flexible', 'K_F', flex_joint.K, 'M_F', flex_joint.M, 'n_xyz_F', flex_joint.n_xyz, 'xi_F', 0.1, 'step_file_F', 'mat/flexor_ID16.STEP', 'type_M', 'flexible', 'K_M', flex_joint.K, 'M_M', flex_joint.M, 'n_xyz_M', flex_joint.n_xyz, 'xi_M', 0.1, 'step_file_M', 'mat/flexor_ID16.STEP');
|
||||
stewart = initializeCylindricalPlatforms(stewart, 'Fpr', 150e-3, 'Mpr', 125e-3);
|
||||
stewart = initializeCylindricalStruts(stewart, 'type_F', 'none', 'type_M', 'none');
|
||||
stewart = computeJacobian(stewart);
|
||||
stewart = initializeStewartPose(stewart);
|
||||
stewart = initializeInertialSensor(stewart);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
ground = initializeGround('type', 'none');
|
||||
payload = initializePayload('type', 'rigid', 'm', 50);
|
||||
controller = initializeController('type', 'open-loop');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
disturbances = initializeDisturbances();
|
||||
references = initializeReferences(stewart);
|
||||
#+end_src
|
||||
Loading…
Reference in New Issue
Block a user