tdehaeze/stewart-simscape
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Add conf_simscape loading and tangled one function

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This commit is contained in:
Thomas Dehaeze 2020-01-22 13:26:58 +01:00
parent de76cc5812
commit cf3b729ba7
2 changed files with 39 additions and 1 deletions
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9
control-study.org
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@ -44,6 +44,7 @@
#+begin_src matlab
addpath('./src/')
addpath('./simulink/')
#+end_src
** Control Schematic
@ -70,12 +71,18 @@
** Initialize the Stewart platform
#+begin_src matlab
stewart = initializeFramesPositions('H', 90e-3, 'MO_B', 45e-3);
stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
% stewart = generateCubicConfiguration(stewart, 'Hc', 60e-3, 'FOc', 45e-3, 'FHa', 5e-3, 'MHb', 5e-3);
stewart = generateGeneralConfiguration(stewart);
stewart = computeJointsPose(stewart);
stewart = initializeStrutDynamics(stewart, 'Ki', 1e6*ones(6,1), 'Ci', 1e2*ones(6,1));
stewart = computeJacobian(stewart);
#+end_src
** Initialize the Simulation
#+begin_src matlab
load('mat/conf_simscape.mat');
#+end_src
** Identification of the plant
Let's identify the transfer function from $\bm{\tau}}$ to $\bm{L}$.
#+begin_src matlab

31
src/forwardKinematicsApprox.m Normal file
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function [P, R] = forwardKinematicsApprox(stewart, args)
% forwardKinematicsApprox - Computed the approximate pose of {B} with respect to {A} from the length of each strut and using
% the Jacobian Matrix
%
% Syntax: [P, R] = forwardKinematicsApprox(stewart, args)
%
% Inputs:
% - stewart - A structure with the following fields
% - J [6x6] - The Jacobian Matrix
% - args - Can have the following fields:
% - dL [6x1] - Displacement of each strut [m]
%
% Outputs:
% - P [3x1] - The estimated position of {B} with respect to {A}
% - R [3x3] - The estimated rotation matrix that gives the orientation of {B} with respect to {A}
arguments
stewart
args.dL (6,1) double {mustBeNumeric} = zeros(6,1)
end
X = stewart.J\args.dL;
P = X(1:3);
theta = norm(X(4:6));
s = X(4:6)/theta;
R = [s(1)^2*(1-cos(theta)) + cos(theta) , s(1)*s(2)*(1-cos(theta)) - s(3)*sin(theta), s(1)*s(3)*(1-cos(theta)) + s(2)*sin(theta);
s(2)*s(1)*(1-cos(theta)) + s(3)*sin(theta), s(2)^2*(1-cos(theta)) + cos(theta), s(2)*s(3)*(1-cos(theta)) - s(1)*sin(theta);
s(3)*s(1)*(1-cos(theta)) - s(2)*sin(theta), s(3)*s(2)*(1-cos(theta)) + s(1)*sin(theta), s(3)^2*(1-cos(theta)) + cos(theta)];