diff --git a/simscape-model.org b/simscape-model.org index 8c1e48b..135bc93 100644 --- a/simscape-model.org +++ b/simscape-model.org @@ -20,7 +20,7 @@ #+PROPERTY: header-args:matlab+ :output-dir figs :END: -* Introduction :ignore: +* Introduction :ignore: Stewart platforms are generated in multiple steps. We define 4 important *frames*: @@ -80,7 +80,7 @@ The procedure to define the Stewart platform is the following: By following this procedure, we obtain a Matlab structure =stewart= that contains all the information for the Simscape model and for further analysis. * Matlab Code -** Matlab Init :noexport:ignore: +** 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 @@ -89,6 +89,10 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain <> #+end_src +#+begin_src matlab + addpath('./src/') +#+end_src + ** Simscape Model #+begin_src matlab open('stewart_platform.slx') @@ -96,10 +100,10 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain ** Test the functions #+begin_src matlab - stewart = initializeFramesPositions(struct('H', 90e-3, 'MO_B', 50e-3)); - stewart = generateCubicConfiguration(stewart, struct('Hc', 60e-3, 'FOc', 50e-3, 'FHa', 15e-3, 'MHb', 15e-3)); + stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 50e-3); + stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 50e-3, 'FHa', 15e-3, 'MHb', 15e-3); stewart = computeJointsPose(stewart); - stewart = initializeStrutDynamics(stewart, struct('Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1))); + stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1)); #+end_src * =initializeFramesPositions=: Initialize the positions of frames {A}, {B}, {F} and {M} @@ -113,13 +117,13 @@ This Matlab function is accessible [[file:src/initializeFramesPositions.m][here] ** Function description #+begin_src matlab - function [stewart] = initializeFramesPositions(opts_param) + function [stewart] = initializeFramesPositions(args) % initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M} % - % Syntax: [stewart] = initializeFramesPositions(H, MO_B) + % Syntax: [stewart] = initializeFramesPositions(args) % % Inputs: - % - opts_param - Structure with the following fields: + % - args - Can have the following fields: % - H [1x1] - Total Height of the Stewart Platform [m] % - MO_B [1x1] - Height of the frame {B} with respect to {M} [m] % @@ -132,20 +136,10 @@ This Matlab function is accessible [[file:src/initializeFramesPositions.m][here] #+end_src ** Optional Parameters -Default values for opts. #+begin_src matlab - opts = struct( ... - 'H', 90e-3, ... % [m] - 'MO_B', 50e-3 ... % [m] - ); -#+end_src - -Populate opts with input parameters -#+begin_src matlab - if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end + arguments + args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3 + args.MO_B (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 end #+end_src @@ -156,11 +150,11 @@ Populate opts with input parameters ** Compute the position of each frame #+begin_src matlab - stewart.H = opts.H; % Total Height of the Stewart Platform [m] + stewart.H = args.H; % Total Height of the Stewart Platform [m] stewart.FO_M = [0; 0; stewart.H]; % Position of {M} with respect to {F} [m] - stewart.MO_B = [0; 0; opts.MO_B]; % Position of {B} with respect to {M} [m] + stewart.MO_B = [0; 0; args.MO_B]; % Position of {B} with respect to {M} [m] stewart.FO_A = stewart.MO_B + stewart.FO_M; % Position of {A} with respect to {F} [m] #+end_src @@ -176,15 +170,15 @@ This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here ** Function description #+begin_src matlab - function [stewart] = generateCubicConfiguration(stewart, opts_param) + function [stewart] = generateCubicConfiguration(stewart, args) % generateCubicConfiguration - Generate a Cubic Configuration % - % Syntax: [stewart] = generateCubicConfiguration(stewart, opts_param) + % Syntax: [stewart] = generateCubicConfiguration(stewart, args) % % Inputs: % - stewart - A structure with the following fields % - H [1x1] - Total height of the platform [m] - % - opts_param - Structure with the following fields: + % - args - Can have the following fields: % - Hc [1x1] - Height of the "useful" part of the cube [m] % - FOc [1x1] - Height of the center of the cute with respect to {F} [m] % - FHa [1x1] - Height of the plane joining the points ai with respect to the frame {F} [m] @@ -197,22 +191,13 @@ This Matlab function is accessible [[file:src/generateCubicConfiguration.m][here #+end_src ** Optional Parameters -Default values for opts. #+begin_src matlab - opts = struct( ... - 'Hc', 60e-3, ... % [m] - 'FOc', 50e-3, ... % [m] - 'FHa', 15e-3, ... % [m] - 'MHb', 15e-3 ... % [m] - ); -#+end_src - -Populate opts with input parameters -#+begin_src matlab - if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end + arguments + stewart + args.Hc (1,1) double {mustBeNumeric, mustBePositive} = 60e-3 + args.FOc (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 + args.FHa (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 + args.MHb (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 end #+end_src @@ -226,9 +211,9 @@ ${}^{C}C$ are the 6 vertices of the cubes expressed in a frame {C} which is loca R = [sx, sy, sz]./vecnorm([sx, sy, sz]); - L = opts.Hc*sqrt(3); + L = args.Hc*sqrt(3); - Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*opts.Hc]; + Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*args.Hc]; CCf = [Cc(:,1), Cc(:,3), Cc(:,3), Cc(:,5), Cc(:,5), Cc(:,1)]; % CCf(:,i) corresponds to the bottom cube's vertice corresponding to the i'th leg CCm = [Cc(:,2), Cc(:,2), Cc(:,4), Cc(:,4), Cc(:,6), Cc(:,6)]; % CCm(:,i) corresponds to the top cube's vertice corresponding to the i'th leg @@ -242,8 +227,8 @@ We can compute the vector of each leg ${}^{C}\hat{\bm{s}}_{i}$ (unit vector from We now which to compute the position of the joints $a_{i}$ and $b_{i}$. #+begin_src matlab - stewart.Fa = CCf + [0; 0; opts.FOc] + ((opts.FHa-(opts.FOc-opts.Hc/2))./CSi(3,:)).*CSi; - stewart.Mb = CCf + [0; 0; opts.FOc-stewart.H] + ((stewart.H-opts.MHb-(opts.FOc-opts.Hc/2))./CSi(3,:)).*CSi; + stewart.Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi; + stewart.Mb = CCf + [0; 0; args.FOc-stewart.H] + ((stewart.H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi; #+end_src * =computeJointsPose=: Compute the Pose of the Joints @@ -326,13 +311,13 @@ This Matlab function is accessible [[file:src/initializeStrutDynamics.m][here]]. ** Function description #+begin_src matlab - function [stewart] = initializeStrutDynamics(stewart, opts_param) + function [stewart] = initializeStrutDynamics(stewart, args) % initializeStrutDynamics - Add Stiffness and Damping properties of each strut % - % Syntax: [stewart] = initializeStrutDynamics(opts_param) + % Syntax: [stewart] = initializeStrutDynamics(args) % % Inputs: - % - opts_param - Structure with the following fields: + % - args - Structure with the following fields: % - Ki [6x1] - Stiffness of each strut [N/m] % - Ci [6x1] - Damping of each strut [N/(m/s)] % @@ -343,27 +328,18 @@ This Matlab function is accessible [[file:src/initializeStrutDynamics.m][here]]. #+end_src ** Optional Parameters -Default values for opts. #+begin_src matlab - opts = struct( ... - 'Ki', 1e6*ones(6,1), ... % [N/m] - 'Ci', 1e2*ones(6,1) ... % [N/(m/s)] - ); -#+end_src - -Populate opts with input parameters -#+begin_src matlab - if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end + arguments + stewart + args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6*ones(6,1) + args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e2*ones(6,1) end #+end_src ** Add Stiffness and Damping properties of each strut #+begin_src matlab - stewart.Ki = opts.Ki; - stewart.Ci = opts.Ci; + stewart.Ki = args.Ki; + stewart.Ci = args.Ci; #+end_src * OLD :noexport: diff --git a/src/generateCubicConfiguration.m b/src/generateCubicConfiguration.m index 4138d85..66a4018 100644 --- a/src/generateCubicConfiguration.m +++ b/src/generateCubicConfiguration.m @@ -1,32 +1,28 @@ -function [stewart] = generateCubicConfiguration(stewart, opts_param) -% generateCubicConfiguration - +function [stewart] = generateCubicConfiguration(stewart, args) +% generateCubicConfiguration - Generate a Cubic Configuration % -% Syntax: [stewart] = generateCubicConfiguration(stewart, opts_param) +% Syntax: [stewart] = generateCubicConfiguration(stewart, args) % % Inputs: -% - stewart - the Stewart struct should have a parameter "H" corresponding to the total height of the platform -% - opts_param - Structure with the following parameters +% - stewart - A structure with the following fields +% - H [1x1] - Total height of the platform [m] +% - args - Can have the following fields: % - Hc [1x1] - Height of the "useful" part of the cube [m] % - FOc [1x1] - Height of the center of the cute with respect to {F} [m] % - FHa [1x1] - Height of the plane joining the points ai with respect to the frame {F} [m] % - MHb [1x1] - Height of the plane joining the points bi with respect to the frame {M} [m] % % Outputs: -% - stewart - updated Stewart structure with the added parameters: -% - Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F} -% - Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M} +% - stewart - updated Stewart structure with the added fields: +% - Fa [3x6] - Its i'th column is the position vector of joint ai with respect to {F} +% - Mb [3x6] - Its i'th column is the position vector of joint bi with respect to {M} -opts = struct( ... - 'Hc', 60e-3, ... % [m] - 'FOc', 50e-3, ... % [m] - 'FHa', 15e-3, ... % [m] - 'MHb', 15e-3 ... % [m] - ); - -if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end +arguments + stewart + args.Hc (1,1) double {mustBeNumeric, mustBePositive} = 60e-3 + args.FOc (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 + args.FHa (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 + args.MHb (1,1) double {mustBeNumeric, mustBePositive} = 15e-3 end sx = [ 2; -1; -1]; @@ -35,14 +31,14 @@ sz = [ 1; 1; 1]; R = [sx, sy, sz]./vecnorm([sx, sy, sz]); -L = opts.Hc*sqrt(3); +L = args.Hc*sqrt(3); -Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*opts.Hc]; +Cc = R'*[[0;0;L],[L;0;L],[L;0;0],[L;L;0],[0;L;0],[0;L;L]] - [0;0;1.5*args.Hc]; CCf = [Cc(:,1), Cc(:,3), Cc(:,3), Cc(:,5), Cc(:,5), Cc(:,1)]; % CCf(:,i) corresponds to the bottom cube's vertice corresponding to the i'th leg CCm = [Cc(:,2), Cc(:,2), Cc(:,4), Cc(:,4), Cc(:,6), Cc(:,6)]; % CCm(:,i) corresponds to the top cube's vertice corresponding to the i'th leg CSi = (CCm - CCf)./vecnorm(CCm - CCf); -stewart.Fa = CCf + [0; 0; opts.FOc] + ((opts.FHa-(opts.FOc-opts.Hc/2))./CSi(3,:)).*CSi; -stewart.Mb = CCf + [0; 0; opts.FOc-stewart.H] + ((stewart.H-opts.MHb-(opts.FOc-opts.Hc/2))./CSi(3,:)).*CSi; +stewart.Fa = CCf + [0; 0; args.FOc] + ((args.FHa-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi; +stewart.Mb = CCf + [0; 0; args.FOc-stewart.H] + ((stewart.H-args.MHb-(args.FOc-args.Hc/2))./CSi(3,:)).*CSi; diff --git a/src/initializeFramesPositions.m b/src/initializeFramesPositions.m index 404ad11..a5f6efc 100644 --- a/src/initializeFramesPositions.m +++ b/src/initializeFramesPositions.m @@ -1,10 +1,10 @@ -function [stewart] = initializeFramesPositions(opts_param) +function [stewart] = initializeFramesPositions(args) % initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M} % -% Syntax: [stewart] = initializeFramesPositions(H, MO_B) +% Syntax: [stewart] = initializeFramesPositions(args) % % Inputs: -% - opts_param - Structure with the following fields: +% - args - Can have the following fields: % - H [1x1] - Total Height of the Stewart Platform [m] % - MO_B [1x1] - Height of the frame {B} with respect to {M} [m] % @@ -15,23 +15,17 @@ function [stewart] = initializeFramesPositions(opts_param) % - MO_B [3x1] - Position of {B} with respect to {M} [m] % - FO_A [3x1] - Position of {A} with respect to {F} [m] -opts = struct( ... - 'H', 90e-3, ... % [m] - 'MO_B', 50e-3 ... % [m] - ); - -if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end +arguments + args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3 + args.MO_B (1,1) double {mustBeNumeric, mustBePositive} = 50e-3 end stewart = struct(); -stewart.H = opts.H; % Total Height of the Stewart Platform [m] +stewart.H = args.H; % Total Height of the Stewart Platform [m] stewart.FO_M = [0; 0; stewart.H]; % Position of {M} with respect to {F} [m] -stewart.MO_B = [0; 0; opts.MO_B]; % Position of {B} with respect to {M} [m] +stewart.MO_B = [0; 0; args.MO_B]; % Position of {B} with respect to {M} [m] stewart.FO_A = stewart.MO_B + stewart.FO_M; % Position of {A} with respect to {F} [m] diff --git a/src/initializeStrutDynamics.m b/src/initializeStrutDynamics.m index 1173d44..e98fed7 100644 --- a/src/initializeStrutDynamics.m +++ b/src/initializeStrutDynamics.m @@ -1,10 +1,10 @@ -function [stewart] = initializeStrutDynamics(stewart, opts_param) +function [stewart] = initializeStrutDynamics(stewart, args) % initializeStrutDynamics - Add Stiffness and Damping properties of each strut % -% Syntax: [stewart] = initializeStrutDynamics(opts_param) +% Syntax: [stewart] = initializeStrutDynamics(args) % % Inputs: -% - opts_param - Structure with the following fields: +% - args - Structure with the following fields: % - Ki [6x1] - Stiffness of each strut [N/m] % - Ci [6x1] - Damping of each strut [N/(m/s)] % @@ -13,16 +13,11 @@ function [stewart] = initializeStrutDynamics(stewart, opts_param) % - Ki [6x1] - Stiffness of each strut [N/m] % - Ci [6x1] - Damping of each strut [N/(m/s)] -opts = struct( ... - 'Ki', 1e6*ones(6,1), ... % [N/m] - 'Ci', 1e2*ones(6,1) ... % [N/(m/s)] - ); - -if exist('opts_param','var') - for opt = fieldnames(opts_param)' - opts.(opt{1}) = opts_param.(opt{1}); - end +arguments + stewart + args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6*ones(6,1) + args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e2*ones(6,1) end -stewart.Ki = opts.Ki; -stewart.Ci = opts.Ci; +stewart.Ki = args.Ki; +stewart.Ci = args.Ci;