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Thomas Dehaeze
2021-01-08 15:54:58 +01:00
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<title>Stewart Platform - NASS</title>
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@@ -39,36 +39,36 @@
<h3 id="org0167386"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
<div class="outline-text-3" id="text-1-1">
<div class="org-src-container">
<pre class="src src-matlab"> apa = load(<span class="org-string">'./mat/APA300ML.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
flex_joint = load(<span class="org-string">'./mat/flexor_ID16.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
<pre class="src src-matlab">apa = load(<span class="org-string">'./mat/APA300ML.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
flex_joint = load(<span class="org-string">'./mat/flexor_ID16.mat'</span>, <span class="org-string">'int_xyz'</span>, <span class="org-string">'int_i'</span>, <span class="org-string">'n_xyz'</span>, <span class="org-string">'n_i'</span>, <span class="org-string">'nodes'</span>, <span class="org-string">'M'</span>, <span class="org-string">'K'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"> stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 175e<span class="org-type">-</span>3);
stewart = generateGeneralConfiguration(stewart, <span class="org-string">'FH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'MH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'FR'</span>, 228e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'MR'</span>, 220e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'FTh'</span>, [<span class="org-type">-</span>9, 9, 120<span class="org-type">-</span>9, 120<span class="org-type">+</span>9, 240<span class="org-type">-</span>9, 240<span class="org-type">+</span>9]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180), <span class="org-string">'MTh'</span>, [<span class="org-type">-</span>60<span class="org-type">+</span>15, 60<span class="org-type">-</span>15, 60<span class="org-type">+</span>15, 180<span class="org-type">-</span>15, 180<span class="org-type">+</span>15, <span class="org-type">-</span>60<span class="org-type">-</span>15]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180));
stewart = computeJointsPose(stewart);
stewart = initializeFlexibleStrutDynamics(stewart, <span class="org-string">'H'</span>, 0.03, <span class="org-string">'K'</span>, apa.K, <span class="org-string">'M'</span>, apa.M, <span class="org-string">'n_xyz'</span>, apa.n_xyz, <span class="org-string">'xi'</span>, 0.1, <span class="org-string">'step_file'</span>, <span class="org-string">'mat/APA300ML.STEP'</span>);
stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_F'</span>, flex_joint.K, <span class="org-string">'M_F'</span>, flex_joint.M, <span class="org-string">'n_xyz_F'</span>, flex_joint.n_xyz, <span class="org-string">'xi_F'</span>, 0.1, <span class="org-string">'step_file_F'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_M'</span>, flex_joint.K, <span class="org-string">'M_M'</span>, flex_joint.M, <span class="org-string">'n_xyz_M'</span>, flex_joint.n_xyz, <span class="org-string">'xi_M'</span>, 0.1, <span class="org-string">'step_file_M'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>);
stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'</span>, 150e<span class="org-type">-</span>3, <span class="org-string">'Mpr'</span>, 125e<span class="org-type">-</span>3);
stewart = initializeCylindricalStruts(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'none'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'none'</span>);
stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart);
<pre class="src src-matlab">stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart, <span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 175e<span class="org-type">-</span>3);
stewart = generateGeneralConfiguration(stewart, <span class="org-string">'FH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'MH'</span>, 20e<span class="org-type">-</span>3, <span class="org-string">'FR'</span>, 228e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'MR'</span>, 220e<span class="org-type">-</span>3<span class="org-type">/</span>2, <span class="org-string">'FTh'</span>, [<span class="org-type">-</span>9, 9, 120<span class="org-type">-</span>9, 120<span class="org-type">+</span>9, 240<span class="org-type">-</span>9, 240<span class="org-type">+</span>9]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180), <span class="org-string">'MTh'</span>, [<span class="org-type">-</span>60<span class="org-type">+</span>15, 60<span class="org-type">-</span>15, 60<span class="org-type">+</span>15, 180<span class="org-type">-</span>15, 180<span class="org-type">+</span>15, <span class="org-type">-</span>60<span class="org-type">-</span>15]<span class="org-type">*</span>(<span class="org-constant">pi</span><span class="org-type">/</span>180));
stewart = computeJointsPose(stewart);
stewart = initializeFlexibleStrutDynamics(stewart, <span class="org-string">'H'</span>, 0.03, <span class="org-string">'K'</span>, apa.K, <span class="org-string">'M'</span>, apa.M, <span class="org-string">'n_xyz'</span>, apa.n_xyz, <span class="org-string">'xi'</span>, 0.1, <span class="org-string">'step_file'</span>, <span class="org-string">'mat/APA300ML.STEP'</span>);
stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_F'</span>, flex_joint.K, <span class="org-string">'M_F'</span>, flex_joint.M, <span class="org-string">'n_xyz_F'</span>, flex_joint.n_xyz, <span class="org-string">'xi_F'</span>, 0.1, <span class="org-string">'step_file_F'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'flexible'</span>, <span class="org-string">'K_M'</span>, flex_joint.K, <span class="org-string">'M_M'</span>, flex_joint.M, <span class="org-string">'n_xyz_M'</span>, flex_joint.n_xyz, <span class="org-string">'xi_M'</span>, 0.1, <span class="org-string">'step_file_M'</span>, <span class="org-string">'mat/flexor_ID16.STEP'</span>);
stewart = initializeCylindricalPlatforms(stewart, <span class="org-string">'Fpr'</span>, 150e<span class="org-type">-</span>3, <span class="org-string">'Mpr'</span>, 125e<span class="org-type">-</span>3);
stewart = initializeCylindricalStruts(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'none'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'none'</span>);
stewart = computeJacobian(stewart);
stewart = initializeStewartPose(stewart);
stewart = initializeInertialSensor(stewart);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"> ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'m'</span>, 50);
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'m'</span>, 50);
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"> disturbances = initializeDisturbances();
references = initializeReferences(stewart);
<pre class="src src-matlab">disturbances = initializeDisturbances();
references = initializeReferences(stewart);
</pre>
</div>
</div>
@@ -77,7 +77,7 @@
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2021-01-08 ven. 15:30</p>
<p class="date">Created: 2021-01-08 ven. 15:53</p>
</div>
</body>
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