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@@ -255,16 +43,16 @@
<ul>
<li><a href="#org3535b6d">6.1. Payload</a>
<ul>
<li><a href="#org1211163">Function description</a></li>
<li><a href="#org0d8dc7e">Optional Parameters</a></li>
<li><a href="#orgd38089d">Function description</a></li>
<li><a href="#org5518a84">Optional Parameters</a></li>
<li><a href="#orgeeb8d35">Add Payload Type</a></li>
<li><a href="#org6d52ffc">Add Stiffness, Damping and Mass properties of the Payload</a></li>
</ul>
</li>
<li><a href="#orgaaed406">6.2. Ground</a>
<ul>
<li><a href="#org0bee981">Function description</a></li>
<li><a href="#orgeaeb9aa">Optional Parameters</a></li>
<li><a href="#org7732939">Function description</a></li>
<li><a href="#org480f36e">Optional Parameters</a></li>
<li><a href="#orgef7035d">Add Ground Type</a></li>
<li><a href="#org95633e8">Add Stiffness and Damping properties of the Ground</a></li>
<li><a href="#org14ff2fc">Rotation Point</a></li>
@@ -274,8 +62,8 @@
</li>
<li><a href="#orgae6907a">7. Initialize Disturbances</a>
<ul>
<li><a href="#org0eae33e">Function Declaration and Documentation</a></li>
<li><a href="#orge03b19d">Optional Parameters</a></li>
<li><a href="#orge2fa859">Function Declaration and Documentation</a></li>
<li><a href="#org6adb628">Optional Parameters</a></li>
<li><a href="#org30dc07c">Structure initialization</a></li>
<li><a href="#org0755155">Ground Motion</a></li>
<li><a href="#org7617a55">Direct Forces</a></li>
@@ -283,8 +71,8 @@
</li>
<li><a href="#orgd45a07f">8. Initialize References</a>
<ul>
<li><a href="#org7f187c4">Function Declaration and Documentation</a></li>
<li><a href="#org28b782e">Optional Parameters</a></li>
<li><a href="#orge5deaa1">Function Declaration and Documentation</a></li>
<li><a href="#orgeebb364">Optional Parameters</a></li>
<li><a href="#orgc274320">8.1. Compute the corresponding strut length</a></li>
<li><a href="#org36ac3fa">References</a></li>
</ul>
@@ -351,7 +139,7 @@ Basically, the configuration is stored in a mat file <code>conf_simscape.mat</co
It is automatically loaded when the Simulink project is open. It can be loaded manually with the command:
</p>
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'mat/conf_simscape.mat'</span>);
<pre class="src src-matlab">load('mat/conf_simscape.mat');
</pre>
</div>
@@ -359,7 +147,7 @@ It is automatically loaded when the Simulink project is open. It can be loaded m
It is however possible to modify specific parameters just for one simulation using the <code>set_param</code> command:
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">set_param</span>(<span class="org-variable-name">conf_simscape</span>, <span class="org-string">'StopTime'</span>, 1);
<pre class="src src-matlab">set_param(conf_simscape, 'StopTime', 1);
</pre>
</div>
</div>
@@ -510,50 +298,50 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
</p>
</div>
<div id="outline-container-org1211163" class="outline-4">
<h4 id="org1211163">Function description</h4>
<div class="outline-text-4" id="text-org1211163">
<div id="outline-container-orgd38089d" class="outline-4">
<h4 id="orgd38089d">Function description</h4>
<div class="outline-text-4" id="text-orgd38089d">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[payload]</span> = <span class="org-function-name">initializePayload</span>(<span class="org-variable-name">args</span>)
<span class="org-comment">% initializePayload - Initialize the Payload that can then be used for simulations and analysis</span>
<span class="org-comment">%</span>
<span class="org-comment">% Syntax: [payload] = initializePayload(args)</span>
<span class="org-comment">%</span>
<span class="org-comment">% Inputs:</span>
<span class="org-comment">% - args - Structure with the following fields:</span>
<span class="org-comment">% - type - 'none', 'rigid', 'flexible', 'cartesian'</span>
<span class="org-comment">% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
<span class="org-comment">% This also the position where K and C are defined</span>
<span class="org-comment">% - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
<span class="org-comment">% - C [6x1] - Damping of the Payload [N/(m/s), N/(rad/s)]</span>
<span class="org-comment">% - m [1x1] - Mass of the Payload [kg]</span>
<span class="org-comment">% - I [3x3] - Inertia matrix for the Payload [kg*m2]</span>
<span class="org-comment">%</span>
<span class="org-comment">% Outputs:</span>
<span class="org-comment">% - payload - Struture with the following properties:</span>
<span class="org-comment">% - type - 1 (none), 2 (rigid), 3 (flexible)</span>
<span class="org-comment">% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]</span>
<span class="org-comment">% - K [6x1] - Stiffness of the Payload [N/m, N/rad]</span>
<span class="org-comment">% - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]</span>
<span class="org-comment">% - m [1x1] - Mass of the Payload [kg]</span>
<span class="org-comment">% - I [3x3] - Inertia matrix for the Payload [kg*m2]</span>
<pre class="src src-matlab">function [payload] = initializePayload(args)
% initializePayload - Initialize the Payload that can then be used for simulations and analysis
%
% Syntax: [payload] = initializePayload(args)
%
% Inputs:
% - args - Structure with the following fields:
% - type - 'none', 'rigid', 'flexible', 'cartesian'
% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
% This also the position where K and C are defined
% - K [6x1] - Stiffness of the Payload [N/m, N/rad]
% - C [6x1] - Damping of the Payload [N/(m/s), N/(rad/s)]
% - m [1x1] - Mass of the Payload [kg]
% - I [3x3] - Inertia matrix for the Payload [kg*m2]
%
% Outputs:
% - payload - Struture with the following properties:
% - type - 1 (none), 2 (rigid), 3 (flexible)
% - h [1x1] - Height of the CoM of the payload w.r.t {M} [m]
% - K [6x1] - Stiffness of the Payload [N/m, N/rad]
% - C [6x1] - Stiffness of the Payload [N/(m/s), N/(rad/s)]
% - m [1x1] - Mass of the Payload [kg]
% - I [3x3] - Inertia matrix for the Payload [kg*m2]
</pre>
</div>
</div>
</div>
<div id="outline-container-org0d8dc7e" class="outline-4">
<h4 id="org0d8dc7e">Optional Parameters</h4>
<div class="outline-text-4" id="text-org0d8dc7e">
<div id="outline-container-org5518a84" class="outline-4">
<h4 id="org5518a84">Optional Parameters</h4>
<div class="outline-text-4" id="text-org5518a84">
<div class="org-src-container">
<pre class="src src-matlab">arguments
args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'cartesian'</span>})} = <span class="org-string">'none'</span>
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(6,1)
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(6,1)
args.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e<span class="org-type">-</span>3
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'cartesian'})} = 'none'
args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(6,1)
args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
args.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e-3
args.m (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
args.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1<span class="org-type">*</span>eye(3)
<span class="org-keyword">end</span>
args.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1*eye(3)
end
</pre>
</div>
</div>
@@ -563,16 +351,16 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
<h4 id="orgeeb8d35">Add Payload Type</h4>
<div class="outline-text-4" id="text-orgeeb8d35">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
<span class="org-keyword">case</span> <span class="org-string">'none'</span>
<pre class="src src-matlab">switch args.type
case 'none'
payload.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
case 'rigid'
payload.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
case 'flexible'
payload.type = 3;
<span class="org-keyword">case</span> <span class="org-string">'cartesian'</span>
case 'cartesian'
payload.type = 4;
<span class="org-keyword">end</span>
end
</pre>
</div>
</div>
@@ -606,42 +394,42 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
</p>
</div>
<div id="outline-container-org0bee981" class="outline-4">
<h4 id="org0bee981">Function description</h4>
<div class="outline-text-4" id="text-org0bee981">
<div id="outline-container-org7732939" class="outline-4">
<h4 id="org7732939">Function description</h4>
<div class="outline-text-4" id="text-org7732939">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[ground]</span> = <span class="org-function-name">initializeGround</span>(<span class="org-variable-name">args</span>)
<span class="org-comment">% initializeGround - Initialize the Ground that can then be used for simulations and analysis</span>
<span class="org-comment">%</span>
<span class="org-comment">% Syntax: [ground] = initializeGround(args)</span>
<span class="org-comment">%</span>
<span class="org-comment">% Inputs:</span>
<span class="org-comment">% - args - Structure with the following fields:</span>
<span class="org-comment">% - type - 'none', 'solid', 'flexible'</span>
<span class="org-comment">% - rot_point [3x1] - Rotation point for the ground motion [m]</span>
<span class="org-comment">% - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
<span class="org-comment">% - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
<span class="org-comment">%</span>
<span class="org-comment">% Outputs:</span>
<span class="org-comment">% - ground - Struture with the following properties:</span>
<span class="org-comment">% - type - 1 (none), 2 (rigid), 3 (flexible)</span>
<span class="org-comment">% - K [3x1] - Translation Stiffness of the Ground [N/m]</span>
<span class="org-comment">% - C [3x1] - Translation Damping of the Ground [N/(m/s)]</span>
<pre class="src src-matlab">function [ground] = initializeGround(args)
% initializeGround - Initialize the Ground that can then be used for simulations and analysis
%
% Syntax: [ground] = initializeGround(args)
%
% Inputs:
% - args - Structure with the following fields:
% - type - 'none', 'solid', 'flexible'
% - rot_point [3x1] - Rotation point for the ground motion [m]
% - K [3x1] - Translation Stiffness of the Ground [N/m]
% - C [3x1] - Translation Damping of the Ground [N/(m/s)]
%
% Outputs:
% - ground - Struture with the following properties:
% - type - 1 (none), 2 (rigid), 3 (flexible)
% - K [3x1] - Translation Stiffness of the Ground [N/m]
% - C [3x1] - Translation Damping of the Ground [N/(m/s)]
</pre>
</div>
</div>
</div>
<div id="outline-container-orgeaeb9aa" class="outline-4">
<h4 id="orgeaeb9aa">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgeaeb9aa">
<div id="outline-container-org480f36e" class="outline-4">
<h4 id="org480f36e">Optional Parameters</h4>
<div class="outline-text-4" id="text-org480f36e">
<div class="org-src-container">
<pre class="src src-matlab">arguments
args.type char {mustBeMember(args.type,{<span class="org-string">'none'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'flexible'</span>})} = <span class="org-string">'none'</span>
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'none'
args.rot_point (3,1) double {mustBeNumeric} = zeros(3,1)
args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(3,1)
args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(3,1)
<span class="org-keyword">end</span>
args.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8*ones(3,1)
args.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(3,1)
end
</pre>
</div>
</div>
@@ -651,14 +439,14 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h4 id="orgef7035d">Add Ground Type</h4>
<div class="outline-text-4" id="text-orgef7035d">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">switch</span> <span class="org-constant">args.type</span>
<span class="org-keyword">case</span> <span class="org-string">'none'</span>
<pre class="src src-matlab">switch args.type
case 'none'
ground.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
case 'rigid'
ground.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
case 'flexible'
ground.type = 3;
<span class="org-keyword">end</span>
end
</pre>
</div>
</div>
@@ -694,33 +482,33 @@ ground.C = args.C;
</p>
</div>
<div id="outline-container-org0eae33e" class="outline-3">
<h3 id="org0eae33e">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-org0eae33e">
<div id="outline-container-orge2fa859" class="outline-3">
<h3 id="orge2fa859">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-orge2fa859">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[disturbances]</span> = <span class="org-function-name">initializeDisturbances</span>(<span class="org-variable-name">args</span>)
<span class="org-comment">% initializeDisturbances - Initialize the disturbances</span>
<span class="org-comment">%</span>
<span class="org-comment">% Syntax: [disturbances] = initializeDisturbances(args)</span>
<span class="org-comment">%</span>
<span class="org-comment">% Inputs:</span>
<span class="org-comment">% - args -</span>
<pre class="src src-matlab">function [disturbances] = initializeDisturbances(args)
% initializeDisturbances - Initialize the disturbances
%
% Syntax: [disturbances] = initializeDisturbances(args)
%
% Inputs:
% - args -
</pre>
</div>
</div>
</div>
<div id="outline-container-orge03b19d" class="outline-3">
<h3 id="orge03b19d">Optional Parameters</h3>
<div class="outline-text-3" id="text-orge03b19d">
<div id="outline-container-org6adb628" class="outline-3">
<h3 id="org6adb628">Optional Parameters</h3>
<div class="outline-text-3" id="text-org6adb628">
<div class="org-src-container">
<pre class="src src-matlab">arguments
args.Fd double {mustBeNumeric, mustBeReal} = zeros(6,1)
args.Fd_t double {mustBeNumeric, mustBeReal} = 0
args.Dw double {mustBeNumeric, mustBeReal} = zeros(6,1)
args.Dw_t double {mustBeNumeric, mustBeReal} = 0
<span class="org-keyword">end</span>
end
</pre>
</div>
</div>
@@ -766,32 +554,32 @@ ground.C = args.C;
</p>
</div>
<div id="outline-container-org7f187c4" class="outline-3">
<h3 id="org7f187c4">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-org7f187c4">
<div id="outline-container-orge5deaa1" class="outline-3">
<h3 id="orge5deaa1">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-orge5deaa1">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name">[references]</span> = <span class="org-function-name">initializeReferences</span>(<span class="org-variable-name">stewart</span>, <span class="org-variable-name">args</span>)
<span class="org-comment">% initializeReferences - Initialize the references</span>
<span class="org-comment">%</span>
<span class="org-comment">% Syntax: [references] = initializeReferences(args)</span>
<span class="org-comment">%</span>
<span class="org-comment">% Inputs:</span>
<span class="org-comment">% - args -</span>
<pre class="src src-matlab">function [references] = initializeReferences(stewart, args)
% initializeReferences - Initialize the references
%
% Syntax: [references] = initializeReferences(args)
%
% Inputs:
% - args -
</pre>
</div>
</div>
</div>
<div id="outline-container-org28b782e" class="outline-3">
<h3 id="org28b782e">Optional Parameters</h3>
<div class="outline-text-3" id="text-org28b782e">
<div id="outline-container-orgeebb364" class="outline-3">
<h3 id="orgeebb364">Optional Parameters</h3>
<div class="outline-text-3" id="text-orgeebb364">
<div class="org-src-container">
<pre class="src src-matlab">arguments
stewart
args.t double {mustBeNumeric, mustBeReal} = 0
args.r double {mustBeNumeric, mustBeReal} = zeros(6, 1)
<span class="org-keyword">end</span>
end
</pre>
</div>
</div>
@@ -803,20 +591,20 @@ ground.C = args.C;
<div class="org-src-container">
<pre class="src src-matlab">rL = zeros(6, length(args.t));
<span class="org-keyword">for</span> <span class="org-variable-name"><span class="org-constant">i</span></span> = <span class="org-constant">1:length(args.t)</span>
R = [cos(args.r(6,<span class="org-constant">i</span>)) <span class="org-type">-</span>sin(args.r(6,<span class="org-constant">i</span>)) 0;
sin(args.r(6,<span class="org-constant">i</span>)) cos(args.r(6,<span class="org-constant">i</span>)) 0;
0 0 1] <span class="org-type">*</span> ...
[cos(args.r(5,<span class="org-constant">i</span>)) 0 sin(args.r(5,<span class="org-constant">i</span>));
for i = 1:length(args.t)
R = [cos(args.r(6,i)) -sin(args.r(6,i)) 0;
sin(args.r(6,i)) cos(args.r(6,i)) 0;
0 0 1] * ...
[cos(args.r(5,i)) 0 sin(args.r(5,i));
0 1 0;
<span class="org-type">-</span>sin(args.r(5,<span class="org-constant">i</span>)) 0 cos(args.r(5,<span class="org-constant">i</span>))] <span class="org-type">*</span> ...
-sin(args.r(5,i)) 0 cos(args.r(5,i))] * ...
[1 0 0;
0 cos(args.r(4,<span class="org-constant">i</span>)) <span class="org-type">-</span>sin(args.r(4,<span class="org-constant">i</span>));
0 sin(args.r(4,<span class="org-constant">i</span>)) cos(args.r(4,<span class="org-constant">i</span>))];
0 cos(args.r(4,i)) -sin(args.r(4,i));
0 sin(args.r(4,i)) cos(args.r(4,i))];
[Li, dLi] = inverseKinematics(stewart, <span class="org-string">'AP'</span>, [args.r(1,<span class="org-constant">i</span>); args.r(2,<span class="org-constant">i</span>); args.r(3,<span class="org-constant">i</span>)], <span class="org-string">'ARB'</span>, R);
rL(<span class="org-type">:</span>, <span class="org-constant">i</span>) = dLi;
<span class="org-keyword">end</span>
[Li, dLi] = inverseKinematics(stewart, 'AP', [args.r(1,i); args.r(2,i); args.r(3,i)], 'ARB', R);
rL(:, i) = dLi;
end
</pre>
</div>
</div>
@@ -836,7 +624,7 @@ references.rL = timeseries(rL, args.t);
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-11 mer. 18:59</p>
<p class="date">Created: 2020-08-05 mer. 13:27</p>
</div>
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