diff --git a/docs/nass.html b/docs/nass.html new file mode 100644 index 0000000..8c98337 --- /dev/null +++ b/docs/nass.html @@ -0,0 +1,87 @@ + + + + + + +Stewart Platform - NASS + + + + + + + + + + +
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Stewart Platform - NASS

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Table of Contents

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1 NASS

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1.1 Identification of the Dynamics

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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');
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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);
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ground = initializeGround('type', 'none');
+payload = initializePayload('type', 'rigid', 'm', 50);
+controller = initializeController('type', 'open-loop');
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disturbances = initializeDisturbances();
+references = initializeReferences(stewart);
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Author: Dehaeze Thomas

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Created: 2020-09-01 mar. 13:18

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+ + diff --git a/org/nass.org b/org/nass.org new file mode 100644 index 0000000..076617a --- /dev/null +++ b/org/nass.org @@ -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: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: + +#+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) +<> +#+end_src + +#+begin_src matlab :exports none :results silent :noweb yes +<> +#+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