tdehaeze/stewart-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

New function argument validation method

Browse Source
This commit is contained in:
Thomas Dehaeze 2020-01-06 09:39:46 +01:00
parent 62d43e446e
commit 9d88faee5a
4 changed files with 75 additions and 114 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

102
simscape-model.org
View File

@ -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)
<<matlab-dir>>
#+end_src
@ -89,6 +89,10 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain
<<matlab-init>>
#+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:

42
src/generateCubicConfiguration.m
View File

@ -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;

22
src/initializeFramesPositions.m
View File

@ -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]

23
src/initializeStrutDynamics.m
View File

@ -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;