From e1cd9b0aa87e1b47ba9a8df92ea9573be10ff5e8 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 11 Feb 2020 15:16:07 +0100 Subject: [PATCH] [Done] Partition Stewart struct - Variant Simscape --- figs/actuator_model_simple.pdf | Bin 15961 -> 15547 bytes figs/actuator_model_simple.png | Bin 5517 -> 5173 bytes figs/iff_1dof.pdf | Bin 16245 -> 15840 bytes figs/iff_1dof.png | Bin 5935 -> 5167 bytes kinematic-study.html | 478 ++++--- kinematic-study.org | 149 ++- simscape_subsystems/Fixed_Based.slx | Bin 26464 -> 26406 bytes simscape_subsystems/Mobile_Platform.slx | Bin 28933 -> 28925 bytes simscape_subsystems/Stewart_Platform.slx | Bin 32080 -> 32047 bytes simscape_subsystems/stewart_strut.slx | Bin 37712 -> 37179 bytes simscape_subsystems/z_axis_geophone.slx | Bin 25568 -> 25598 bytes simulink/stewart_active_damping.slx | Bin 34393 -> 35478 bytes src/computeJacobian.m | 30 +- src/computeJointsPose.m | 85 +- src/displayArchitecture.m | 79 +- src/forwardKinematicsApprox.m | 7 +- src/generateCubicConfiguration.m | 16 +- src/generateGeneralConfiguration.m | 15 +- src/initializeAmplifiedStrutDynamics.m | 46 +- src/initializeCylindricalPlatforms.m | 52 +- src/initializeCylindricalStruts.m | 63 +- src/initializeFramesPositions.m | 24 +- src/initializeInertialSensor.m | 48 + src/initializeJointDynamics.m | 110 +- src/initializeStewartPlatform.m | 31 + src/initializeStewartPose.m | 4 +- src/initializeStrutDynamics.m | 19 +- src/inverseKinematics.m | 18 +- stewart-architecture.html | 1458 ++++++++++++++-------- stewart-architecture.org | 805 ++++++++---- 30 files changed, 2326 insertions(+), 1211 deletions(-) create mode 100644 src/initializeInertialSensor.m create mode 100644 src/initializeStewartPlatform.m diff --git a/figs/actuator_model_simple.pdf b/figs/actuator_model_simple.pdf index 2b7782dcd9dada4327dfaf732020c5baad17deab..908ceeed2abe21508a95783d2ecec974a2ffbf0f 100644 GIT binary patch delta 9741 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