4 view display option for display function
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-02-11 mar. 17:52 -->
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<!-- 2020-02-12 mer. 14:16 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Stewart Platform - Definition of the Architecture</title>
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@ -297,85 +297,85 @@ for the JavaScript code in this tag.
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<ul>
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<li><a href="#orgd89f0e1">5.1. <code>initializeStewartPlatform</code>: Initialize the Stewart Platform structure</a>
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<ul>
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<li><a href="#org9b53b28">Documentation</a></li>
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<li><a href="#org43e5d7b">Function description</a></li>
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<li><a href="#org7e0b516">Documentation</a></li>
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<li><a href="#org51076d4">Function description</a></li>
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<li><a href="#orgd567fc1">Initialize the Stewart structure</a></li>
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</ul>
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</li>
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<li><a href="#orgb11894c">5.2. <code>initializeFramesPositions</code>: Initialize the positions of frames {A}, {B}, {F} and {M}</a>
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<ul>
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<li><a href="#org78163aa">Documentation</a></li>
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<li><a href="#org58e74af">Function description</a></li>
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<li><a href="#org75ad918">Optional Parameters</a></li>
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<li><a href="#org9ab3ee7">Documentation</a></li>
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<li><a href="#org9e0f060">Function description</a></li>
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<li><a href="#org6a57a47">Optional Parameters</a></li>
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<li><a href="#org458592e">Compute the position of each frame</a></li>
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<li><a href="#org29fd7cf">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org31b0fc0">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org9057387">5.3. <code>generateGeneralConfiguration</code>: Generate a Very General Configuration</a>
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<ul>
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<li><a href="#org304afd4">Documentation</a></li>
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<li><a href="#orgdbbe92d">Function description</a></li>
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<li><a href="#orgc9aa5c6">Optional Parameters</a></li>
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<li><a href="#org0272259">Documentation</a></li>
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<li><a href="#orgbd08cb7">Function description</a></li>
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<li><a href="#orgfade903">Optional Parameters</a></li>
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<li><a href="#org232e4c2">Compute the pose</a></li>
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<li><a href="#org1af60d1">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org67d9f70">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org861f6de">5.4. <code>computeJointsPose</code>: Compute the Pose of the Joints</a>
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<ul>
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<li><a href="#orgc791fb6">Documentation</a></li>
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<li><a href="#org07a9faa">Function description</a></li>
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<li><a href="#org1873f06">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#org7f013d7">Documentation</a></li>
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<li><a href="#orgfb0d4ad">Function description</a></li>
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<li><a href="#org7bc221e">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#org52b0d4c">Compute the position of the Joints</a></li>
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<li><a href="#org4b76b0f">Compute the strut length and orientation</a></li>
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<li><a href="#orgd621d5e">Compute the orientation of the Joints</a></li>
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<li><a href="#orgbe4fa22">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#orgc7895ed">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org329bef9">5.5. <code>initializeStewartPose</code>: Determine the initial stroke in each leg to have the wanted pose</a>
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<ul>
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<li><a href="#orga659915">Function description</a></li>
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<li><a href="#orge99ec9f">Optional Parameters</a></li>
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<li><a href="#org67023b1">Function description</a></li>
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<li><a href="#org1173285">Optional Parameters</a></li>
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<li><a href="#org3d3ef62">Use the Inverse Kinematic function</a></li>
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<li><a href="#org6a8b77e">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#orgd1a2f9c">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org6ff5b31">5.6. <code>initializeCylindricalPlatforms</code>: Initialize the geometry of the Fixed and Mobile Platforms</a>
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<ul>
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<li><a href="#org70b7362">Function description</a></li>
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<li><a href="#orgee6ed82">Optional Parameters</a></li>
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<li><a href="#orge50412f">Function description</a></li>
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<li><a href="#org0be1736">Optional Parameters</a></li>
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<li><a href="#org25a390a">Compute the Inertia matrices of platforms</a></li>
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<li><a href="#org19d03f1">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org7396a3c">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org60aa215">5.7. <code>initializeCylindricalStruts</code>: Define the inertia of cylindrical struts</a>
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<ul>
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<li><a href="#org686a076">Function description</a></li>
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<li><a href="#orgda13332">Optional Parameters</a></li>
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<li><a href="#org3e05aa9">Function description</a></li>
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<li><a href="#org0447834">Optional Parameters</a></li>
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<li><a href="#orgc056498">Compute the properties of the cylindrical struts</a></li>
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<li><a href="#org601053b">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org3e2ac57">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org3ad0cd1">5.8. <code>initializeStrutDynamics</code>: Add Stiffness and Damping properties of each strut</a>
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<ul>
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<li><a href="#orgdb94cd8">Documentation</a></li>
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<li><a href="#org38928ae">Function description</a></li>
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<li><a href="#org5d465fb">Optional Parameters</a></li>
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<li><a href="#org53a2929">Documentation</a></li>
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<li><a href="#org1ab40de">Function description</a></li>
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<li><a href="#org21f3e3c">Optional Parameters</a></li>
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<li><a href="#orgadb8327">Add Stiffness and Damping properties of each strut</a></li>
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</ul>
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</li>
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<li><a href="#orgd8d403e">5.9. <code>initializeAmplifiedStrutDynamics</code>: Add Stiffness and Damping properties of each strut for an amplified piezoelectric actuator</a>
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<ul>
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<li><a href="#org7e0b516">Documentation</a></li>
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<li><a href="#orgd36c473">Function description</a></li>
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<li><a href="#org3cae5a2">Optional Parameters</a></li>
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<li><a href="#org2d49efc">Documentation</a></li>
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<li><a href="#orga83094e">Function description</a></li>
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<li><a href="#orgf97e68f">Optional Parameters</a></li>
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<li><a href="#org9b435e8">Compute the total stiffness and damping</a></li>
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<li><a href="#org6cc3cd5">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#org2ca28bc">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#orgeb6173a">5.10. <code>initializeJointDynamics</code>: Add Stiffness and Damping properties for spherical joints</a>
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<ul>
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<li><a href="#org8a14eeb">Function description</a></li>
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<li><a href="#orgcfba56a">Optional Parameters</a></li>
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<li><a href="#org92a2eb6">Function description</a></li>
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<li><a href="#org6de493f">Optional Parameters</a></li>
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<li><a href="#orgc6d4183">Add Actuator Type</a></li>
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<li><a href="#orgc0e613c">Add Stiffness and Damping in Translation of each strut</a></li>
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<li><a href="#org04698fc">Add Stiffness and Damping in Rotation of each strut</a></li>
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@ -383,22 +383,23 @@ for the JavaScript code in this tag.
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</li>
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<li><a href="#orgea07e0e">5.11. <code>initializeInertialSensor</code>: Initialize the inertial sensor in each strut</a>
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<ul>
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<li><a href="#orgd686f52">Function description</a></li>
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<li><a href="#org57e140f">Optional Parameters</a></li>
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<li><a href="#org33251d6">Function description</a></li>
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<li><a href="#org405e558">Optional Parameters</a></li>
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<li><a href="#org463075d">Compute the properties of the sensor</a></li>
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<li><a href="#org31b0fc0">Populate the <code>stewart</code> structure</a></li>
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<li><a href="#orgfd7f4a6">Populate the <code>stewart</code> structure</a></li>
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</ul>
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</li>
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<li><a href="#org5266e9d">5.12. <code>displayArchitecture</code>: 3D plot of the Stewart platform architecture</a>
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<ul>
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<li><a href="#org51076d4">Function description</a></li>
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<li><a href="#org6a57a47">Optional Parameters</a></li>
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<li><a href="#org7bc221e">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#orgbbfef24">Function description</a></li>
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<li><a href="#orgf940506">Optional Parameters</a></li>
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<li><a href="#org12d315f">Check the <code>stewart</code> structure elements</a></li>
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<li><a href="#orgc088b18">Figure Creation, Frames and Homogeneous transformations</a></li>
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<li><a href="#orgc25a979">Fixed Base elements</a></li>
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<li><a href="#org8417772">Mobile Platform elements</a></li>
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<li><a href="#org5f40b79">Legs</a></li>
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<li><a href="#org81be27b">5.12.1. Figure parameters</a></li>
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<li><a href="#orgf41db0f">5.12.2. Subplots</a></li>
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</ul>
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</li>
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</ul>
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@ -768,7 +769,7 @@ The obtained <code>stewart</code> Matlab structure contains all the information
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The function <code>displayArchitecture</code> can be used to display the current Stewart configuration:
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">displayArchitecture(stewart);
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<pre class="src src-matlab">displayArchitecture(stewart, <span class="org-string">'views'</span>, <span class="org-string">'all'</span>);
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</pre>
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</div>
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@ -842,11 +843,11 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
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</p>
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</div>
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<div id="outline-container-org9b53b28" class="outline-4">
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<h4 id="org9b53b28">Documentation</h4>
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<div class="outline-text-4" id="text-org9b53b28">
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<div id="outline-container-org7e0b516" class="outline-4">
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<h4 id="org7e0b516">Documentation</h4>
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<div class="outline-text-4" id="text-org7e0b516">
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<div id="org31aa0ac" class="figure">
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<div id="org405cd8e" class="figure">
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<p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
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</p>
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<p><span class="figure-number">Figure 7: </span>Definition of the position of the frames</p>
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@ -854,9 +855,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPlatform.m">
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</div>
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</div>
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<div id="outline-container-org43e5d7b" class="outline-4">
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<h4 id="org43e5d7b">Function description</h4>
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<div class="outline-text-4" id="text-org43e5d7b">
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<div id="outline-container-org51076d4" class="outline-4">
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<h4 id="org51076d4">Function description</h4>
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<div class="outline-text-4" id="text-org51076d4">
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<div class="org-src-container">
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<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>()
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<span class="org-comment">% initializeStewartPlatform - Initialize the stewart structure</span>
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@ -915,11 +916,11 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
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</p>
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</div>
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<div id="outline-container-org78163aa" class="outline-4">
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<h4 id="org78163aa">Documentation</h4>
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<div class="outline-text-4" id="text-org78163aa">
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<div id="outline-container-org9ab3ee7" class="outline-4">
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<h4 id="org9ab3ee7">Documentation</h4>
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<div class="outline-text-4" id="text-org9ab3ee7">
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<div id="org405cd8e" class="figure">
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<div id="orgf487bc2" class="figure">
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<p><img src="figs/stewart-frames-position.png" alt="stewart-frames-position.png" />
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</p>
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<p><span class="figure-number">Figure 8: </span>Definition of the position of the frames</p>
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@ -927,9 +928,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
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</div>
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</div>
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<div id="outline-container-org58e74af" class="outline-4">
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<h4 id="org58e74af">Function description</h4>
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<div class="outline-text-4" id="text-org58e74af">
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<div id="outline-container-org9e0f060" class="outline-4">
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<h4 id="org9e0f060">Function description</h4>
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<div class="outline-text-4" id="text-org9e0f060">
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<div class="org-src-container">
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<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>)
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<span class="org-comment">% initializeFramesPositions - Initialize the positions of frames {A}, {B}, {F} and {M}</span>
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@ -952,9 +953,9 @@ This Matlab function is accessible <a href="../src/initializeFramesPositions.m">
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</div>
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</div>
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<div id="outline-container-org75ad918" class="outline-4">
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<h4 id="org75ad918">Optional Parameters</h4>
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<div class="outline-text-4" id="text-org75ad918">
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<div id="outline-container-org6a57a47" class="outline-4">
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<h4 id="org6a57a47">Optional Parameters</h4>
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<div class="outline-text-4" id="text-org6a57a47">
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<div class="org-src-container">
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<pre class="src src-matlab">arguments
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stewart
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@ -982,9 +983,9 @@ FO_A = MO_B <span class="org-type">+</span> FO_M; <span class="org-comment">% Po
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</div>
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</div>
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<div id="outline-container-org29fd7cf" class="outline-4">
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<h4 id="org29fd7cf">Populate the <code>stewart</code> structure</h4>
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<div class="outline-text-4" id="text-org29fd7cf">
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<div id="outline-container-org31b0fc0" class="outline-4">
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<h4 id="org31b0fc0">Populate the <code>stewart</code> structure</h4>
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<div class="outline-text-4" id="text-org31b0fc0">
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<div class="org-src-container">
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<pre class="src src-matlab">stewart.geometry.H = H;
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stewart.geometry.FO_M = FO_M;
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@ -1008,9 +1009,9 @@ This Matlab function is accessible <a href="../src/generateGeneralConfiguration.
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</p>
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</div>
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<div id="outline-container-org304afd4" class="outline-4">
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<h4 id="org304afd4">Documentation</h4>
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<div class="outline-text-4" id="text-org304afd4">
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<div id="outline-container-org0272259" class="outline-4">
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<h4 id="org0272259">Documentation</h4>
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<div class="outline-text-4" id="text-org0272259">
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<p>
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Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
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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>).
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@ -1025,9 +1026,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
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</div>
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</div>
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<div id="outline-container-orgdbbe92d" class="outline-4">
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<h4 id="orgdbbe92d">Function description</h4>
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<div class="outline-text-4" id="text-orgdbbe92d">
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<div id="outline-container-orgbd08cb7" class="outline-4">
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<h4 id="orgbd08cb7">Function description</h4>
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<div class="outline-text-4" id="text-orgbd08cb7">
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<div class="org-src-container">
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<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>)
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<span class="org-comment">% generateGeneralConfiguration - Generate a Very General Configuration</span>
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@ -1052,9 +1053,9 @@ The radius of the circles can be chosen as well as the angles where the joints a
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</div>
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</div>
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<div id="outline-container-orgc9aa5c6" class="outline-4">
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<h4 id="orgc9aa5c6">Optional Parameters</h4>
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<div class="outline-text-4" id="text-orgc9aa5c6">
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<div id="outline-container-orgfade903" class="outline-4">
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<h4 id="orgfade903">Optional Parameters</h4>
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<div class="outline-text-4" id="text-orgfade903">
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<div class="org-src-container">
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<pre class="src src-matlab">arguments
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stewart
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@ -1089,9 +1090,9 @@ Mb = zeros(3,6);
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</div>
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</div>
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<div id="outline-container-org1af60d1" class="outline-4">
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<h4 id="org1af60d1">Populate the <code>stewart</code> structure</h4>
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<div class="outline-text-4" id="text-org1af60d1">
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<div id="outline-container-org67d9f70" class="outline-4">
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<h4 id="org67d9f70">Populate the <code>stewart</code> structure</h4>
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<div class="outline-text-4" id="text-org67d9f70">
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<div class="org-src-container">
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<pre class="src src-matlab">stewart.platform_F.Fa = Fa;
|
||||
stewart.platform_M.Mb = Mb;
|
||||
@ -1113,9 +1114,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc791fb6" class="outline-4">
|
||||
<h4 id="orgc791fb6">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-orgc791fb6">
|
||||
<div id="outline-container-org7f013d7" class="outline-4">
|
||||
<h4 id="org7f013d7">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org7f013d7">
|
||||
|
||||
<div id="org8ffb841" class="figure">
|
||||
<p><img src="figs/stewart-struts.png" alt="stewart-struts.png" />
|
||||
@ -1125,9 +1126,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org07a9faa" class="outline-4">
|
||||
<h4 id="org07a9faa">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org07a9faa">
|
||||
<div id="outline-container-orgfb0d4ad" class="outline-4">
|
||||
<h4 id="orgfb0d4ad">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgfb0d4ad">
|
||||
<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>
|
||||
@ -1160,9 +1161,9 @@ This Matlab function is accessible <a href="../src/computeJointsPose.m">here</a>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1873f06" class="outline-4">
|
||||
<h4 id="org1873f06">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-org1873f06">
|
||||
<div id="outline-container-org7bc221e" class="outline-4">
|
||||
<h4 id="org7bc221e">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-org7bc221e">
|
||||
<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;
|
||||
@ -1233,9 +1234,9 @@ MRb = zeros(3,3,6);
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbe4fa22" class="outline-4">
|
||||
<h4 id="orgbe4fa22">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orgbe4fa22">
|
||||
<div id="outline-container-orgc7895ed" class="outline-4">
|
||||
<h4 id="orgc7895ed">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orgc7895ed">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.geometry.Aa = Aa;
|
||||
stewart.geometry.Ab = Ab;
|
||||
@ -1268,9 +1269,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga659915" class="outline-4">
|
||||
<h4 id="orga659915">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orga659915">
|
||||
<div id="outline-container-org67023b1" class="outline-4">
|
||||
<h4 id="org67023b1">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org67023b1">
|
||||
<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>
|
||||
@ -1294,9 +1295,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge99ec9f" class="outline-4">
|
||||
<h4 id="orge99ec9f">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orge99ec9f">
|
||||
<div id="outline-container-org1173285" class="outline-4">
|
||||
<h4 id="org1173285">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org1173285">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1318,9 +1319,9 @@ This Matlab function is accessible <a href="../src/initializeStewartPose.m">here
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6a8b77e" class="outline-4">
|
||||
<h4 id="org6a8b77e">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org6a8b77e">
|
||||
<div id="outline-container-orgd1a2f9c" class="outline-4">
|
||||
<h4 id="orgd1a2f9c">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orgd1a2f9c">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.actuators.Leq = dLi;
|
||||
</pre>
|
||||
@ -1341,9 +1342,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org70b7362" class="outline-4">
|
||||
<h4 id="org70b7362">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org70b7362">
|
||||
<div id="outline-container-orge50412f" class="outline-4">
|
||||
<h4 id="orge50412f">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orge50412f">
|
||||
<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>
|
||||
@ -1377,9 +1378,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgee6ed82" class="outline-4">
|
||||
<h4 id="orgee6ed82">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgee6ed82">
|
||||
<div id="outline-container-org0be1736" class="outline-4">
|
||||
<h4 id="org0be1736">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org0be1736">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1414,9 +1415,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalPlatform
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org19d03f1" class="outline-4">
|
||||
<h4 id="org19d03f1">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org19d03f1">
|
||||
<div id="outline-container-org7396a3c" class="outline-4">
|
||||
<h4 id="org7396a3c">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org7396a3c">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.platform_F.type = 1;
|
||||
|
||||
@ -1452,9 +1453,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org686a076" class="outline-4">
|
||||
<h4 id="org686a076">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org686a076">
|
||||
<div id="outline-container-org3e05aa9" class="outline-4">
|
||||
<h4 id="org3e05aa9">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org3e05aa9">
|
||||
<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>
|
||||
@ -1487,9 +1488,9 @@ This Matlab function is accessible <a href="../src/initializeCylindricalStruts.m
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgda13332" class="outline-4">
|
||||
<h4 id="orgda13332">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgda13332">
|
||||
<div id="outline-container-org0447834" class="outline-4">
|
||||
<h4 id="org0447834">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org0447834">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1537,9 +1538,9 @@ I_M = zeros(3, 3, 6); <span class="org-comment">% Inertia of the "mobile" part o
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org601053b" class="outline-4">
|
||||
<h4 id="org601053b">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org601053b">
|
||||
<div id="outline-container-org3e2ac57" class="outline-4">
|
||||
<h4 id="org3e2ac57">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org3e2ac57">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.struts_M.type = 1;
|
||||
|
||||
@ -1575,9 +1576,9 @@ This Matlab function is accessible <a href="../src/initializeStrutDynamics.m">he
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdb94cd8" class="outline-4">
|
||||
<h4 id="orgdb94cd8">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-orgdb94cd8">
|
||||
<div id="outline-container-org53a2929" class="outline-4">
|
||||
<h4 id="org53a2929">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org53a2929">
|
||||
|
||||
<div id="orgbbfb204" class="figure">
|
||||
<p><img src="figs/piezoelectric_stack.jpg" alt="piezoelectric_stack.jpg" width="500px" />
|
||||
@ -1606,9 +1607,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org38928ae" class="outline-4">
|
||||
<h4 id="org38928ae">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org38928ae">
|
||||
<div id="outline-container-org1ab40de" class="outline-4">
|
||||
<h4 id="org1ab40de">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org1ab40de">
|
||||
<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>
|
||||
@ -1630,9 +1631,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#org62
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5d465fb" class="outline-4">
|
||||
<h4 id="org5d465fb">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org5d465fb">
|
||||
<div id="outline-container-org21f3e3c" class="outline-4">
|
||||
<h4 id="org21f3e3c">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org21f3e3c">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1670,9 +1671,9 @@ This Matlab function is accessible <a href="../src/initializeAmplifiedStrutDynam
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7e0b516" class="outline-4">
|
||||
<h4 id="org7e0b516">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org7e0b516">
|
||||
<div id="outline-container-org2d49efc" class="outline-4">
|
||||
<h4 id="org2d49efc">Documentation</h4>
|
||||
<div class="outline-text-4" id="text-org2d49efc">
|
||||
<p>
|
||||
An amplified piezoelectric actuator is shown in Figure <a href="#org9e7e9ad">13</a>.
|
||||
</p>
|
||||
@ -1705,9 +1706,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd36c473" class="outline-4">
|
||||
<h4 id="orgd36c473">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgd36c473">
|
||||
<div id="outline-container-orga83094e" class="outline-4">
|
||||
<h4 id="orga83094e">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orga83094e">
|
||||
<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>
|
||||
@ -1735,9 +1736,9 @@ A simplistic model of such amplified actuator is shown in Figure <a href="#orgcf
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3cae5a2" class="outline-4">
|
||||
<h4 id="org3cae5a2">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org3cae5a2">
|
||||
<div id="outline-container-orgf97e68f" class="outline-4">
|
||||
<h4 id="orgf97e68f">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgf97e68f">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1762,9 +1763,9 @@ C = args.Ca <span class="org-type">+</span> args.Cr;
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6cc3cd5" class="outline-4">
|
||||
<h4 id="org6cc3cd5">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org6cc3cd5">
|
||||
<div id="outline-container-org2ca28bc" class="outline-4">
|
||||
<h4 id="org2ca28bc">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org2ca28bc">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.actuators.type = 2;
|
||||
|
||||
@ -1794,9 +1795,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8a14eeb" class="outline-4">
|
||||
<h4 id="org8a14eeb">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org8a14eeb">
|
||||
<div id="outline-container-org92a2eb6" class="outline-4">
|
||||
<h4 id="org92a2eb6">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org92a2eb6">
|
||||
<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>
|
||||
@ -1831,9 +1832,9 @@ This Matlab function is accessible <a href="../src/initializeJointDynamics.m">he
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcfba56a" class="outline-4">
|
||||
<h4 id="orgcfba56a">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgcfba56a">
|
||||
<div id="outline-container-org6de493f" class="outline-4">
|
||||
<h4 id="org6de493f">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org6de493f">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -1959,9 +1960,9 @@ This Matlab function is accessible <a href="../src/initializeInertialSensor.m">h
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd686f52" class="outline-4">
|
||||
<h4 id="orgd686f52">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgd686f52">
|
||||
<div id="outline-container-org33251d6" class="outline-4">
|
||||
<h4 id="org33251d6">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org33251d6">
|
||||
<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>
|
||||
@ -1987,9 +1988,9 @@ This Matlab function is accessible <a href="../src/initializeInertialSensor.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org57e140f" class="outline-4">
|
||||
<h4 id="org57e140f">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org57e140f">
|
||||
<div id="outline-container-org405e558" class="outline-4">
|
||||
<h4 id="org405e558">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org405e558">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -2030,9 +2031,9 @@ This Matlab function is accessible <a href="../src/initializeInertialSensor.m">h
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org31b0fc0" class="outline-4">
|
||||
<h4 id="org31b0fc0">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-org31b0fc0">
|
||||
<div id="outline-container-orgfd7f4a6" class="outline-4">
|
||||
<h4 id="orgfd7f4a6">Populate the <code>stewart</code> structure</h4>
|
||||
<div class="outline-text-4" id="text-orgfd7f4a6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">stewart.sensors.inertial = sensor;
|
||||
</pre>
|
||||
@ -2053,9 +2054,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org51076d4" class="outline-4">
|
||||
<h4 id="org51076d4">Function description</h4>
|
||||
<div class="outline-text-4" id="text-org51076d4">
|
||||
<div id="outline-container-orgbbfef24" class="outline-4">
|
||||
<h4 id="orgbbfef24">Function description</h4>
|
||||
<div class="outline-text-4" id="text-orgbbfef24">
|
||||
<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>
|
||||
@ -2076,6 +2077,7 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
|
||||
<span class="org-comment">% - joints [true/false] - Display the Joints</span>
|
||||
<span class="org-comment">% - labels [true/false] - Display the Labels</span>
|
||||
<span class="org-comment">% - platforms [true/false] - Display the Platforms</span>
|
||||
<span class="org-comment">% - views ['all', 'xy', 'yz', 'xz', 'default'] -</span>
|
||||
<span class="org-comment">%</span>
|
||||
<span class="org-comment">% Outputs:</span>
|
||||
</pre>
|
||||
@ -2083,9 +2085,9 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6a57a47" class="outline-4">
|
||||
<h4 id="org6a57a47">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-org6a57a47">
|
||||
<div id="outline-container-orgf940506" class="outline-4">
|
||||
<h4 id="orgf940506">Optional Parameters</h4>
|
||||
<div class="outline-text-4" id="text-orgf940506">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">arguments
|
||||
stewart
|
||||
@ -2099,15 +2101,16 @@ This Matlab function is accessible <a href="../src/displayArchitecture.m">here</
|
||||
args.joints logical {mustBeNumericOrLogical} = <span class="org-constant">true</span>
|
||||
args.labels logical {mustBeNumericOrLogical} = <span class="org-constant">true</span>
|
||||
args.platforms logical {mustBeNumericOrLogical} = <span class="org-constant">true</span>
|
||||
args.views char {mustBeMember(args.views,{<span class="org-string">'all'</span>, <span class="org-string">'xy'</span>, <span class="org-string">'xz'</span>, <span class="org-string">'yz'</span>, <span class="org-string">'default'</span>})} = <span class="org-string">'default'</span>
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7bc221e" class="outline-4">
|
||||
<h4 id="org7bc221e">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-org7bc221e">
|
||||
<div id="outline-container-org12d315f" class="outline-4">
|
||||
<h4 id="org12d315f">Check the <code>stewart</code> structure elements</h4>
|
||||
<div class="outline-text-4" id="text-org12d315f">
|
||||
<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;
|
||||
@ -2136,7 +2139,12 @@ Mb = stewart.platform_M.Mb;
|
||||
The reference frame of the 3d plot corresponds to the frame \(\{F\}\).
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-type">figure</span>;
|
||||
<pre class="src src-matlab"><span class="org-keyword">if</span> <span class="org-type">~</span>strcmp(args.views, <span class="org-string">'all'</span>)
|
||||
<span class="org-type">figure</span>;
|
||||
<span class="org-keyword">else</span>
|
||||
f = <span class="org-type">figure</span>(<span class="org-string">'visible'</span>, <span class="org-string">'off'</span>);
|
||||
<span class="org-keyword">end</span>
|
||||
|
||||
hold on;
|
||||
</pre>
|
||||
</div>
|
||||
@ -2367,15 +2375,65 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
|
||||
<h4 id="org81be27b"><span class="section-number-4">5.12.1</span> Figure parameters</h4>
|
||||
<div class="outline-text-4" id="text-5-12-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">view([1 <span class="org-type">-</span>0.6 0.4]);
|
||||
<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.views</span>
|
||||
<span class="org-keyword">case</span> <span class="org-string">'default'</span>
|
||||
view([1 <span class="org-type">-</span>0.6 0.4]);
|
||||
<span class="org-keyword">case</span> <span class="org-string">'xy'</span>
|
||||
view([0 0 1]);
|
||||
<span class="org-keyword">case</span> <span class="org-string">'xz'</span>
|
||||
view([0 <span class="org-type">-</span>1 0]);
|
||||
<span class="org-keyword">case</span> <span class="org-string">'yz'</span>
|
||||
view([1 0 0]);
|
||||
<span class="org-keyword">end</span>
|
||||
<span class="org-type">axis</span> equal;
|
||||
<span class="org-type">axis</span> off;
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf41db0f" class="outline-4">
|
||||
<h4 id="orgf41db0f"><span class="section-number-4">5.12.2</span> Subplots</h4>
|
||||
<div class="outline-text-4" id="text-5-12-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span class="org-keyword">if</span> strcmp(args.views, <span class="org-string">'all'</span>)
|
||||
hAx = findobj(<span class="org-string">'type'</span>, <span class="org-string">'axes'</span>);
|
||||
|
||||
<span class="org-type">figure</span>;
|
||||
s1 = subplot(2,2,1);
|
||||
copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s1);
|
||||
view([0 0 1]);
|
||||
<span class="org-type">axis</span> equal;
|
||||
<span class="org-type">axis</span> off;
|
||||
title(<span class="org-string">'Top'</span>)
|
||||
|
||||
s2 = subplot(2,2,2);
|
||||
copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s2);
|
||||
view([1 <span class="org-type">-</span>0.6 0.4]);
|
||||
<span class="org-type">axis</span> equal;
|
||||
<span class="org-type">axis</span> off;
|
||||
|
||||
s3 = subplot(2,2,3);
|
||||
copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s3);
|
||||
view([1 0 0]);
|
||||
<span class="org-type">axis</span> equal;
|
||||
<span class="org-type">axis</span> off;
|
||||
title(<span class="org-string">'Front'</span>)
|
||||
|
||||
s4 = subplot(2,2,4);
|
||||
copyobj(<span class="org-type">get</span>(hAx(<span class="org-variable-name">1</span>), <span class="org-string">'Children'</span>), s4);
|
||||
view([0 <span class="org-type">-</span>1 0]);
|
||||
<span class="org-type">axis</span> equal;
|
||||
<span class="org-type">axis</span> off;
|
||||
title(<span class="org-string">'Side'</span>)
|
||||
<span class="org-keyword">end</span>
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
|
||||
<p>
|
||||
|
||||
@ -2386,7 +2444,7 @@ 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: 2020-02-11 mar. 17:52</p>
|
||||
<p class="date">Created: 2020-02-12 mer. 14:16</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -241,7 +241,7 @@ The obtained =stewart= Matlab structure contains all the information for analysi
|
||||
|
||||
The function =displayArchitecture= can be used to display the current Stewart configuration:
|
||||
#+begin_src matlab
|
||||
displayArchitecture(stewart);
|
||||
displayArchitecture(stewart, 'views', 'all');
|
||||
#+end_src
|
||||
|
||||
#+header: :tangle no :exports results :results none :noweb yes
|
||||
@ -1450,6 +1450,7 @@ This Matlab function is accessible [[file:../src/displayArchitecture.m][here]].
|
||||
% - joints [true/false] - Display the Joints
|
||||
% - labels [true/false] - Display the Labels
|
||||
% - platforms [true/false] - Display the Platforms
|
||||
% - views ['all', 'xy', 'yz', 'xz', 'default'] -
|
||||
%
|
||||
% Outputs:
|
||||
#+end_src
|
||||
@ -1471,6 +1472,7 @@ This Matlab function is accessible [[file:../src/displayArchitecture.m][here]].
|
||||
args.joints logical {mustBeNumericOrLogical} = true
|
||||
args.labels logical {mustBeNumericOrLogical} = true
|
||||
args.platforms logical {mustBeNumericOrLogical} = true
|
||||
args.views char {mustBeMember(args.views,{'all', 'xy', 'xz', 'yz', 'default'})} = 'default'
|
||||
end
|
||||
#+end_src
|
||||
|
||||
@ -1503,7 +1505,12 @@ This Matlab function is accessible [[file:../src/displayArchitecture.m][here]].
|
||||
|
||||
The reference frame of the 3d plot corresponds to the frame $\{F\}$.
|
||||
#+begin_src matlab
|
||||
if ~strcmp(args.views, 'all')
|
||||
figure;
|
||||
else
|
||||
f = figure('visible', 'off');
|
||||
end
|
||||
|
||||
hold on;
|
||||
#+end_src
|
||||
|
||||
@ -1691,11 +1698,56 @@ Plot the legs connecting the joints of the fixed base to the joints of the mobil
|
||||
|
||||
*** Figure parameters
|
||||
#+begin_src matlab
|
||||
switch args.views
|
||||
case 'default'
|
||||
view([1 -0.6 0.4]);
|
||||
case 'xy'
|
||||
view([0 0 1]);
|
||||
case 'xz'
|
||||
view([0 -1 0]);
|
||||
case 'yz'
|
||||
view([1 0 0]);
|
||||
end
|
||||
axis equal;
|
||||
axis off;
|
||||
#+end_src
|
||||
|
||||
*** Subplots
|
||||
#+begin_src matlab
|
||||
if strcmp(args.views, 'all')
|
||||
hAx = findobj('type', 'axes');
|
||||
|
||||
figure;
|
||||
s1 = subplot(2,2,1);
|
||||
copyobj(get(hAx(1), 'Children'), s1);
|
||||
view([0 0 1]);
|
||||
axis equal;
|
||||
axis off;
|
||||
title('Top')
|
||||
|
||||
s2 = subplot(2,2,2);
|
||||
copyobj(get(hAx(1), 'Children'), s2);
|
||||
view([1 -0.6 0.4]);
|
||||
axis equal;
|
||||
axis off;
|
||||
|
||||
s3 = subplot(2,2,3);
|
||||
copyobj(get(hAx(1), 'Children'), s3);
|
||||
view([1 0 0]);
|
||||
axis equal;
|
||||
axis off;
|
||||
title('Front')
|
||||
|
||||
s4 = subplot(2,2,4);
|
||||
copyobj(get(hAx(1), 'Children'), s4);
|
||||
view([0 -1 0]);
|
||||
axis equal;
|
||||
axis off;
|
||||
title('Side')
|
||||
end
|
||||
#+end_src
|
||||
|
||||
|
||||
* Bibliography :ignore:
|
||||
bibliographystyle:unsrt
|
||||
bibliography:ref.bib
|
||||
|
||||
@ -17,6 +17,7 @@ function [] = displayArchitecture(stewart, args)
|
||||
% - joints [true/false] - Display the Joints
|
||||
% - labels [true/false] - Display the Labels
|
||||
% - platforms [true/false] - Display the Platforms
|
||||
% - views ['all', 'xy', 'yz', 'xz', 'default'] -
|
||||
%
|
||||
% Outputs:
|
||||
|
||||
@ -32,6 +33,7 @@ arguments
|
||||
args.joints logical {mustBeNumericOrLogical} = true
|
||||
args.labels logical {mustBeNumericOrLogical} = true
|
||||
args.platforms logical {mustBeNumericOrLogical} = true
|
||||
args.views char {mustBeMember(args.views,{'all', 'xy', 'xz', 'yz', 'default'})} = 'default'
|
||||
end
|
||||
|
||||
assert(isfield(stewart.platform_F, 'FO_A'), 'stewart.platform_F should have attribute FO_A')
|
||||
@ -49,7 +51,12 @@ Fa = stewart.platform_F.Fa;
|
||||
assert(isfield(stewart.platform_M, 'Mb'), 'stewart.platform_M should have attribute Mb')
|
||||
Mb = stewart.platform_M.Mb;
|
||||
|
||||
if ~strcmp(args.views, 'all')
|
||||
figure;
|
||||
else
|
||||
f = figure('visible', 'off');
|
||||
end
|
||||
|
||||
hold on;
|
||||
|
||||
FTa = [eye(3), FO_A; ...
|
||||
@ -185,6 +192,47 @@ if args.legs
|
||||
end
|
||||
end
|
||||
|
||||
switch args.views
|
||||
case 'default'
|
||||
view([1 -0.6 0.4]);
|
||||
case 'xy'
|
||||
view([0 0 1]);
|
||||
case 'xz'
|
||||
view([0 -1 0]);
|
||||
case 'yz'
|
||||
view([1 0 0]);
|
||||
end
|
||||
axis equal;
|
||||
axis off;
|
||||
|
||||
if strcmp(args.views, 'all')
|
||||
hAx = findobj('type', 'axes');
|
||||
|
||||
figure;
|
||||
s1 = subplot(2,2,1);
|
||||
copyobj(get(hAx(1), 'Children'), s1);
|
||||
view([0 0 1]);
|
||||
axis equal;
|
||||
axis off;
|
||||
title('Top')
|
||||
|
||||
s2 = subplot(2,2,2);
|
||||
copyobj(get(hAx(1), 'Children'), s2);
|
||||
view([1 -0.6 0.4]);
|
||||
axis equal;
|
||||
axis off;
|
||||
|
||||
s3 = subplot(2,2,3);
|
||||
copyobj(get(hAx(1), 'Children'), s3);
|
||||
view([1 0 0]);
|
||||
axis equal;
|
||||
axis off;
|
||||
title('Front')
|
||||
|
||||
s4 = subplot(2,2,4);
|
||||
copyobj(get(hAx(1), 'Children'), s4);
|
||||
view([0 -1 0]);
|
||||
axis equal;
|
||||
axis off;
|
||||
title('Side')
|
||||
end
|
||||
|
||||
Loading…
Reference in New Issue
Block a user