Remove useless latex headings

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2020-02-14 14:24:20 +01:00
parent de392e5c40
commit a83598d7dd
6 changed files with 190 additions and 218 deletions

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<head>
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Stewart Platform - Definition of the Architecture</title>
@@ -297,85 +297,85 @@ for the JavaScript code in this tag.
<ul>
<li><a href="#orgd89f0e1">5.1. <code>initializeStewartPlatform</code>: Initialize the Stewart Platform structure</a>
<ul>
<li><a href="#org56918f3">Documentation</a></li>
<li><a href="#org2bf8771">Function description</a></li>
<li><a href="#orga7c47bc">Documentation</a></li>
<li><a href="#org59a5a2e">Function description</a></li>
<li><a href="#orgd567fc1">Initialize the Stewart structure</a></li>
</ul>
</li>
<li><a href="#orgb11894c">5.2. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
<ul>
<li><a href="#org75e004e">Documentation</a></li>
<li><a href="#org961f34d">Function description</a></li>
<li><a href="#org2259cf3">Optional Parameters</a></li>
<li><a href="#org2e2e6c3">Documentation</a></li>
<li><a href="#org04ff2b3">Function description</a></li>
<li><a href="#org8bd5132">Optional Parameters</a></li>
<li><a href="#org458592e">Compute the position of each frame</a></li>
<li><a href="#org46c0939">Populate the <code>stewart</code> structure</a></li>
<li><a href="#org55d115f">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#org9057387">5.3. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
<ul>
<li><a href="#org35cd468">Documentation</a></li>
<li><a href="#org5e67fec">Function description</a></li>
<li><a href="#org552a968">Optional Parameters</a></li>
<li><a href="#org96f9637">Documentation</a></li>
<li><a href="#org59b256d">Function description</a></li>
<li><a href="#org953c5b3">Optional Parameters</a></li>
<li><a href="#org232e4c2">Compute the pose</a></li>
<li><a href="#org08036be">Populate the <code>stewart</code> structure</a></li>
<li><a href="#org8ce6d85">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#org861f6de">5.4. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
<ul>
<li><a href="#org310340f">Documentation</a></li>
<li><a href="#orgb68ba66">Function description</a></li>
<li><a href="#org2318f9d">Check the <code>stewart</code> structure elements</a></li>
<li><a href="#org6b1772b">Documentation</a></li>
<li><a href="#org6ac2b53">Function description</a></li>
<li><a href="#org92ac986">Check the <code>stewart</code> structure elements</a></li>
<li><a href="#org52b0d4c">Compute the position of the Joints</a></li>
<li><a href="#org4b76b0f">Compute the strut length and orientation</a></li>
<li><a href="#orgd621d5e">Compute the orientation of the Joints</a></li>
<li><a href="#org85f125f">Populate the <code>stewart</code> structure</a></li>
<li><a href="#orgc39bc0e">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#org329bef9">5.5. <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</a>
<ul>
<li><a href="#orge9eed8d">Function description</a></li>
<li><a href="#org2ecb2be">Optional Parameters</a></li>
<li><a href="#org8339f6e">Function description</a></li>
<li><a href="#org6b574c3">Optional Parameters</a></li>
<li><a href="#org3d3ef62">Use the Inverse Kinematic function</a></li>
<li><a href="#org91a0531">Populate the <code>stewart</code> structure</a></li>
<li><a href="#org70b368a">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#org6ff5b31">5.6. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
<ul>
<li><a href="#org7a76b52">Function description</a></li>
<li><a href="#orgd2ac20d">Optional Parameters</a></li>
<li><a href="#orgef76da0">Function description</a></li>
<li><a href="#org333a206">Optional Parameters</a></li>
<li><a href="#org25a390a">Compute the Inertia matrices of platforms</a></li>
<li><a href="#org54ca25a">Populate the <code>stewart</code> structure</a></li>
<li><a href="#org89d5372">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#org60aa215">5.7. <code>initializeCylindricalStruts</code>: Define the inertia of cylindrical struts</a>
<ul>
<li><a href="#orge902b6c">Function description</a></li>
<li><a href="#org9ed68cb">Optional Parameters</a></li>
<li><a href="#org0431333">Function description</a></li>
<li><a href="#org738f1f8">Optional Parameters</a></li>
<li><a href="#orgc056498">Compute the properties of the cylindrical struts</a></li>
<li><a href="#org4e084f4">Populate the <code>stewart</code> structure</a></li>
<li><a href="#org9c1a6e4">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#org3ad0cd1">5.8. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
<ul>
<li><a href="#orgfbed90c">Documentation</a></li>
<li><a href="#org6f66ea1">Function description</a></li>
<li><a href="#org5acb074">Optional Parameters</a></li>
<li><a href="#org53e4966">Documentation</a></li>
<li><a href="#org5bd2bb1">Function description</a></li>
<li><a href="#org484f45f">Optional Parameters</a></li>
<li><a href="#orgadb8327">Add Stiffness and Damping properties of each strut</a></li>
</ul>
</li>
<li><a href="#orgd8d403e">5.9. <code>initializeAmplifiedStrutDynamics</code>: Add Stiffness and Damping properties of each strut for an amplified piezoelectric actuator</a>
<ul>
<li><a href="#orga7c47bc">Documentation</a></li>
<li><a href="#org899fc34">Function description</a></li>
<li><a href="#orgc57dd52">Optional Parameters</a></li>
<li><a href="#orgcbe44a8">Documentation</a></li>
<li><a href="#orgbeac987">Function description</a></li>
<li><a href="#orgb924b3b">Optional Parameters</a></li>
<li><a href="#org9b435e8">Compute the total stiffness and damping</a></li>
<li><a href="#org7a48c56">Populate the <code>stewart</code> structure</a></li>
<li><a href="#org0c93e39">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#orgeb6173a">5.10. <code>initializeJointDynamics</code>: Add Stiffness and Damping properties for spherical joints</a>
<ul>
<li><a href="#orgbe1d3f6">Function description</a></li>
<li><a href="#org3b77131">Optional Parameters</a></li>
<li><a href="#orgd67e306">Function description</a></li>
<li><a href="#orgbad8e13">Optional Parameters</a></li>
<li><a href="#orgc6d4183">Add Actuator Type</a></li>
<li><a href="#orgc0e613c">Add Stiffness and Damping in Translation of each strut</a></li>
<li><a href="#org04698fc">Add Stiffness and Damping in Rotation of each strut</a></li>
@@ -385,17 +385,17 @@ for the JavaScript code in this tag.
<ul>
<li><a href="#orgd667bbb">Geophone - Working Principle</a></li>
<li><a href="#orgca7729f">Accelerometer - Working Principle</a></li>
<li><a href="#org1eb17e3">Function description</a></li>
<li><a href="#orgc623e70">Optional Parameters</a></li>
<li><a href="#org42a2695">Function description</a></li>
<li><a href="#org5d7462b">Optional Parameters</a></li>
<li><a href="#org463075d">Compute the properties of the sensor</a></li>
<li><a href="#org55d115f">Populate the <code>stewart</code> structure</a></li>
<li><a href="#org5cb9de9">Populate the <code>stewart</code> structure</a></li>
</ul>
</li>
<li><a href="#org5266e9d">5.12. <code>displayArchitecture</code>: 3D plot of the Stewart platform architecture</a>
<ul>
<li><a href="#org59a5a2e">Function description</a></li>
<li><a href="#org8bd5132">Optional Parameters</a></li>
<li><a href="#org92ac986">Check the <code>stewart</code> structure elements</a></li>
<li><a href="#org3f0619e">Function description</a></li>
<li><a href="#orgc1e4a8f">Optional Parameters</a></li>
<li><a href="#org5081c24">Check the <code>stewart</code> structure elements</a></li>
<li><a href="#orgc088b18">Figure Creation, Frames and Homogeneous transformations</a></li>
<li><a href="#orgc25a979">Fixed Base elements</a></li>
<li><a href="#org8417772">Mobile Platform elements</a></li>
@@ -845,11 +845,11 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
</p>
</div>
<div id="outline-container-org56918f3" class="outline-4">
<h4 id="org56918f3">Documentation</h4>
<div class="outline-text-4" id="text-org56918f3">
<div id="outline-container-orga7c47bc" class="outline-4">
<h4 id="orga7c47bc">Documentation</h4>
<div class="outline-text-4" id="text-orga7c47bc">
<div id="orgfeff460" class="figure">
<div id="org9d8b281" class="figure">
<p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Definition of the position of the frames</p>
@@ -857,9 +857,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
</div>
</div>
<div id="outline-container-org2bf8771" class="outline-4">
<h4 id="org2bf8771">Function description</h4>
<div class="outline-text-4" id="text-org2bf8771">
<div id="outline-container-org59a5a2e" class="outline-4">
<h4 id="org59a5a2e">Function description</h4>
<div class="outline-text-4" id="text-org59a5a2e">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPlatform</span>()
<span class="org-comment">% initializeStewartPlatform - Initialize the stewart structure</span>
@@ -918,11 +918,11 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
</p>
</div>
<div id="outline-container-org75e004e" class="outline-4">
<h4 id="org75e004e">Documentation</h4>
<div class="outline-text-4" id="text-org75e004e">
<div id="outline-container-org2e2e6c3" class="outline-4">
<h4 id="org2e2e6c3">Documentation</h4>
<div class="outline-text-4" id="text-org2e2e6c3">
<div id="org9d8b281" class="figure">
<div id="org8c7f906" class="figure">
<p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
</p>
<p><span class="figure-number">Figure 8: </span>Definition of the position of the frames</p>
@@ -930,9 +930,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
</div>
</div>
<div id="outline-container-org961f34d" class="outline-4">
<h4 id="org961f34d">Function description</h4>
<div class="outline-text-4" id="text-org961f34d">
<div id="outline-container-org04ff2b3" class="outline-4">
<h4 id="org04ff2b3">Function description</h4>
<div class="outline-text-4" id="text-org04ff2b3">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeFramesPositions</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}</span>
@@ -955,9 +955,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
</div>
</div>
<div id="outline-container-org2259cf3" class="outline-4">
<h4 id="org2259cf3">Optional Parameters</h4>
<div class="outline-text-4" id="text-org2259cf3">
<div id="outline-container-org8bd5132" class="outline-4">
<h4 id="org8bd5132">Optional Parameters</h4>
<div class="outline-text-4" id="text-org8bd5132">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -985,9 +985,9 @@ FO_A = MO_B <span class="org-type">+</span> FO_M; <span class="org-comment">% Po
</div>
</div>
<div id="outline-container-org46c0939" class="outline-4">
<h4 id="org46c0939">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org46c0939">
<div id="outline-container-org55d115f" class="outline-4">
<h4 id="org55d115f">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org55d115f">
<div class="org-src-container">
<pre class="src src-matlab">stewart.geometry.H = H;
stewart.geometry.FO_M = FO_M;
@@ -1011,9 +1011,9 @@ This Matlab function is accessible <a href="../src/generateGeneralConfiguration.
</p>
</div>
<div id="outline-container-org35cd468" class="outline-4">
<h4 id="org35cd468">Documentation</h4>
<div class="outline-text-4" id="text-org35cd468">
<div id="outline-container-org96f9637" class="outline-4">
<h4 id="org96f9637">Documentation</h4>
<div class="outline-text-4" id="text-org96f9637">
<p>
Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
The radius of the circles can be chosen as well as the angles where the joints are located (see Figure <a href="#org4c354b6">9</a>).
@@ -1028,9 +1028,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
</div>
</div>
<div id="outline-container-org5e67fec" class="outline-4">
<h4 id="org5e67fec">Function description</h4>
<div class="outline-text-4" id="text-org5e67fec">
<div id="outline-container-org59b256d" class="outline-4">
<h4 id="org59b256d">Function description</h4>
<div class="outline-text-4" id="text-org59b256d">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">generateGeneralConfiguration</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% generateGeneralConfiguration - Generate a Very General Configuration</span>
@@ -1055,9 +1055,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
</div>
</div>
<div id="outline-container-org552a968" class="outline-4">
<h4 id="org552a968">Optional Parameters</h4>
<div class="outline-text-4" id="text-org552a968">
<div id="outline-container-org953c5b3" class="outline-4">
<h4 id="org953c5b3">Optional Parameters</h4>
<div class="outline-text-4" id="text-org953c5b3">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -1092,9 +1092,9 @@ Mb = zeros(3,6);
</div>
</div>
<div id="outline-container-org08036be" class="outline-4">
<h4 id="org08036be">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org08036be">
<div id="outline-container-org8ce6d85" class="outline-4">
<h4 id="org8ce6d85">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org8ce6d85">
<div class="org-src-container">
<pre class="src src-matlab">stewart.platform_F.Fa = Fa;
stewart.platform_M.Mb = Mb;
@@ -1116,9 +1116,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
</p>
</div>
<div id="outline-container-org310340f" class="outline-4">
<h4 id="org310340f">Documentation</h4>
<div class="outline-text-4" id="text-org310340f">
<div id="outline-container-org6b1772b" class="outline-4">
<h4 id="org6b1772b">Documentation</h4>
<div class="outline-text-4" id="text-org6b1772b">
<div id="org8ffb841" class="figure">
<p><img src="figs/stewart-struts.png" alt="stewart-struts.png" />
@@ -1128,9 +1128,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
</div>
</div>
<div id="outline-container-orgb68ba66" class="outline-4">
<h4 id="orgb68ba66">Function description</h4>
<div class="outline-text-4" id="text-orgb68ba66">
<div id="outline-container-org6ac2b53" class="outline-4">
<h4 id="org6ac2b53">Function description</h4>
<div class="outline-text-4" id="text-org6ac2b53">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">computeJointsPose</span>(<span class="org-variable-name">stewart</span>)
<span class="org-comment">% computeJointsPose -</span>
@@ -1163,9 +1163,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
</div>
</div>
<div id="outline-container-org2318f9d" class="outline-4">
<h4 id="org2318f9d">Check the <code>stewart</code> structure elements</h4>
<div class="outline-text-4" id="text-org2318f9d">
<div id="outline-container-org92ac986" class="outline-4">
<h4 id="org92ac986">Check the <code>stewart</code> structure elements</h4>
<div class="outline-text-4" id="text-org92ac986">
<div class="org-src-container">
<pre class="src src-matlab">assert(isfield(stewart.platform_F, <span class="org-string">'Fa'</span>), <span class="org-string">'stewart.platform_F should have attribute Fa'</span>)
Fa = stewart.platform_F.Fa;
@@ -1236,9 +1236,9 @@ MRb = zeros(3,3,6);
</div>
</div>
<div id="outline-container-org85f125f" class="outline-4">
<h4 id="org85f125f">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org85f125f">
<div id="outline-container-orgc39bc0e" class="outline-4">
<h4 id="orgc39bc0e">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-orgc39bc0e">
<div class="org-src-container">
<pre class="src src-matlab">stewart.geometry.Aa = Aa;
stewart.geometry.Ab = Ab;
@@ -1271,9 +1271,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
</p>
</div>
<div id="outline-container-orge9eed8d" class="outline-4">
<h4 id="orge9eed8d">Function description</h4>
<div class="outline-text-4" id="text-orge9eed8d">
<div id="outline-container-org8339f6e" class="outline-4">
<h4 id="org8339f6e">Function description</h4>
<div class="outline-text-4" id="text-org8339f6e">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStewartPose</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeStewartPose - Determine the initial stroke in each leg to have the wanted pose</span>
@@ -1297,9 +1297,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
</div>
</div>
<div id="outline-container-org2ecb2be" class="outline-4">
<h4 id="org2ecb2be">Optional Parameters</h4>
<div class="outline-text-4" id="text-org2ecb2be">
<div id="outline-container-org6b574c3" class="outline-4">
<h4 id="org6b574c3">Optional Parameters</h4>
<div class="outline-text-4" id="text-org6b574c3">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -1321,9 +1321,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
</div>
</div>
<div id="outline-container-org91a0531" class="outline-4">
<h4 id="org91a0531">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org91a0531">
<div id="outline-container-org70b368a" class="outline-4">
<h4 id="org70b368a">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org70b368a">
<div class="org-src-container">
<pre class="src src-matlab">stewart.actuators.Leq = dLi;
</pre>
@@ -1344,9 +1344,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
</p>
</div>
<div id="outline-container-org7a76b52" class="outline-4">
<h4 id="org7a76b52">Function description</h4>
<div class="outline-text-4" id="text-org7a76b52">
<div id="outline-container-orgef76da0" class="outline-4">
<h4 id="orgef76da0">Function description</h4>
<div class="outline-text-4" id="text-orgef76da0">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalPlatforms</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeCylindricalPlatforms - Initialize the geometry of the Fixed and Mobile Platforms</span>
@@ -1380,9 +1380,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
</div>
</div>
<div id="outline-container-orgd2ac20d" class="outline-4">
<h4 id="orgd2ac20d">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgd2ac20d">
<div id="outline-container-org333a206" class="outline-4">
<h4 id="org333a206">Optional Parameters</h4>
<div class="outline-text-4" id="text-org333a206">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -1417,9 +1417,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
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</div>
<div id="outline-container-org54ca25a" class="outline-4">
<h4 id="org54ca25a">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org54ca25a">
<div id="outline-container-org89d5372" class="outline-4">
<h4 id="org89d5372">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org89d5372">
<div class="org-src-container">
<pre class="src src-matlab">stewart.platform_F.type = 1;
@@ -1455,9 +1455,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
</p>
</div>
<div id="outline-container-orge902b6c" class="outline-4">
<h4 id="orge902b6c">Function description</h4>
<div class="outline-text-4" id="text-orge902b6c">
<div id="outline-container-org0431333" class="outline-4">
<h4 id="org0431333">Function description</h4>
<div class="outline-text-4" id="text-org0431333">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeCylindricalStruts</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeCylindricalStruts - Define the mass and moment of inertia of cylindrical struts</span>
@@ -1490,9 +1490,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
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</div>
<div id="outline-container-org9ed68cb" class="outline-4">
<h4 id="org9ed68cb">Optional Parameters</h4>
<div class="outline-text-4" id="text-org9ed68cb">
<div id="outline-container-org738f1f8" class="outline-4">
<h4 id="org738f1f8">Optional Parameters</h4>
<div class="outline-text-4" id="text-org738f1f8">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -1540,9 +1540,9 @@ I_M = zeros(3, 3, 6); <span class="org-comment">% Inertia of the "mobile" part o
</div>
</div>
<div id="outline-container-org4e084f4" class="outline-4">
<h4 id="org4e084f4">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org4e084f4">
<div id="outline-container-org9c1a6e4" class="outline-4">
<h4 id="org9c1a6e4">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org9c1a6e4">
<div class="org-src-container">
<pre class="src src-matlab">stewart.struts_M.type = 1;
@@ -1578,9 +1578,9 @@ This Matlab function is accessible <a href="../src/initializeStrutDynamics.m">he
</p>
</div>
<div id="outline-container-orgfbed90c" class="outline-4">
<h4 id="orgfbed90c">Documentation</h4>
<div class="outline-text-4" id="text-orgfbed90c">
<div id="outline-container-org53e4966" class="outline-4">
<h4 id="org53e4966">Documentation</h4>
<div class="outline-text-4" id="text-org53e4966">
<div id="orgbbfb204" class="figure">
<p><img src="figs/piezoelectric_stack.jpg" alt="piezoelectric_stack.jpg" width="500px" />
@@ -1609,9 +1609,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
</div>
</div>
<div id="outline-container-org6f66ea1" class="outline-4">
<h4 id="org6f66ea1">Function description</h4>
<div class="outline-text-4" id="text-org6f66ea1">
<div id="outline-container-org5bd2bb1" class="outline-4">
<h4 id="org5bd2bb1">Function description</h4>
<div class="outline-text-4" id="text-org5bd2bb1">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeStrutDynamics - Add Stiffness and Damping properties of each strut</span>
@@ -1633,9 +1633,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
</div>
</div>
<div id="outline-container-org5acb074" class="outline-4">
<h4 id="org5acb074">Optional Parameters</h4>
<div class="outline-text-4" id="text-org5acb074">
<div id="outline-container-org484f45f" class="outline-4">
<h4 id="org484f45f">Optional Parameters</h4>
<div class="outline-text-4" id="text-org484f45f">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -1673,9 +1673,9 @@ This Matlab function is accessible <a href="../src/initializeAmplifiedStrutDynam
</p>
</div>
<div id="outline-container-orga7c47bc" class="outline-4">
<h4 id="orga7c47bc">Documentation</h4>
<div class="outline-text-4" id="text-orga7c47bc">
<div id="outline-container-orgcbe44a8" class="outline-4">
<h4 id="orgcbe44a8">Documentation</h4>
<div class="outline-text-4" id="text-orgcbe44a8">
<p>
An amplified piezoelectric actuator is shown in Figure <a href="#org9e7e9ad">13</a>.
</p>
@@ -1708,9 +1708,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
</div>
</div>
<div id="outline-container-org899fc34" class="outline-4">
<h4 id="org899fc34">Function description</h4>
<div class="outline-text-4" id="text-org899fc34">
<div id="outline-container-orgbeac987" class="outline-4">
<h4 id="orgbeac987">Function description</h4>
<div class="outline-text-4" id="text-orgbeac987">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeAmplifiedStrutDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeAmplifiedStrutDynamics - Add Stiffness and Damping properties of each strut</span>
@@ -1738,9 +1738,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
</div>
</div>
<div id="outline-container-orgc57dd52" class="outline-4">
<h4 id="orgc57dd52">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgc57dd52">
<div id="outline-container-orgb924b3b" class="outline-4">
<h4 id="orgb924b3b">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgb924b3b">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -1765,9 +1765,9 @@ C = args.Ca <span class="org-type">+</span> args.Cr;
</div>
</div>
<div id="outline-container-org7a48c56" class="outline-4">
<h4 id="org7a48c56">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org7a48c56">
<div id="outline-container-org0c93e39" class="outline-4">
<h4 id="org0c93e39">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org0c93e39">
<div class="org-src-container">
<pre class="src src-matlab">stewart.actuators.type = 2;
@@ -1797,9 +1797,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
</p>
</div>
<div id="outline-container-orgbe1d3f6" class="outline-4">
<h4 id="orgbe1d3f6">Function description</h4>
<div class="outline-text-4" id="text-orgbe1d3f6">
<div id="outline-container-orgd67e306" class="outline-4">
<h4 id="orgd67e306">Function description</h4>
<div class="outline-text-4" id="text-orgd67e306">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeJointDynamics</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints</span>
@@ -1834,9 +1834,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
</div>
</div>
<div id="outline-container-org3b77131" class="outline-4">
<h4 id="org3b77131">Optional Parameters</h4>
<div class="outline-text-4" id="text-org3b77131">
<div id="outline-container-orgbad8e13" class="outline-4">
<h4 id="orgbad8e13">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgbad8e13">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -2036,9 +2036,9 @@ Note that there is trade-off between:
</div>
</div>
<div id="outline-container-org1eb17e3" class="outline-4">
<h4 id="org1eb17e3">Function description</h4>
<div class="outline-text-4" id="text-org1eb17e3">
<div id="outline-container-org42a2695" class="outline-4">
<h4 id="org42a2695">Function description</h4>
<div class="outline-text-4" id="text-org42a2695">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[stewart]</span> = <span class="org-function-name">initializeInertialSensor</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeInertialSensor - Initialize the inertial sensor in each strut</span>
@@ -2064,9 +2064,9 @@ Note that there is trade-off between:
</div>
</div>
<div id="outline-container-orgc623e70" class="outline-4">
<h4 id="orgc623e70">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgc623e70">
<div id="outline-container-org5d7462b" class="outline-4">
<h4 id="org5d7462b">Optional Parameters</h4>
<div class="outline-text-4" id="text-org5d7462b">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -2107,9 +2107,9 @@ Note that there is trade-off between:
</div>
</div>
<div id="outline-container-org55d115f" class="outline-4">
<h4 id="org55d115f">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org55d115f">
<div id="outline-container-org5cb9de9" class="outline-4">
<h4 id="org5cb9de9">Populate the <code>stewart</code> structure</h4>
<div class="outline-text-4" id="text-org5cb9de9">
<div class="org-src-container">
<pre class="src src-matlab">stewart.sensors.inertial = sensor;
</pre>
@@ -2130,9 +2130,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
</p>
</div>
<div id="outline-container-org59a5a2e" class="outline-4">
<h4 id="org59a5a2e">Function description</h4>
<div class="outline-text-4" id="text-org59a5a2e">
<div id="outline-container-org3f0619e" class="outline-4">
<h4 id="org3f0619e">Function description</h4>
<div class="outline-text-4" id="text-org3f0619e">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[]</span> = <span class="org-function-name">displayArchitecture</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% displayArchitecture - 3D plot of the Stewart platform architecture</span>
@@ -2161,9 +2161,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
</div>
</div>
<div id="outline-container-org8bd5132" class="outline-4">
<h4 id="org8bd5132">Optional Parameters</h4>
<div class="outline-text-4" id="text-org8bd5132">
<div id="outline-container-orgc1e4a8f" class="outline-4">
<h4 id="orgc1e4a8f">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgc1e4a8f">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
@@ -2184,9 +2184,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
</div>
</div>
<div id="outline-container-org92ac986" class="outline-4">
<h4 id="org92ac986">Check the <code>stewart</code> structure elements</h4>
<div class="outline-text-4" id="text-org92ac986">
<div id="outline-container-org5081c24" class="outline-4">
<h4 id="org5081c24">Check the <code>stewart</code> structure elements</h4>
<div class="outline-text-4" id="text-org5081c24">
<div class="org-src-container">
<pre class="src src-matlab">assert(isfield(stewart.platform_F, <span class="org-string">'FO_A'</span>), <span class="org-string">'stewart.platform_F should have attribute FO_A'</span>)
FO_A = stewart.platform_F.FO_A;
@@ -2522,7 +2522,7 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-13 jeu. 15:47</p>
<p class="date">Created: 2020-02-14 ven. 14:11</p>
</div>
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