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Thomas Dehaeze
2021-01-08 15:54:58 +01:00
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@@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2021-01-08 ven. 15:29 -->
<!-- 2021-01-08 ven. 15:52 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Stewart Platform - Simscape Model</title>
<meta name="generator" content="Org mode" />
@@ -48,16 +48,16 @@
<ul>
<li><a href="#orgf4bef70">6.1. Payload</a>
<ul>
<li><a href="#org9c0e404">Function description</a></li>
<li><a href="#orgabc81c1">Optional Parameters</a></li>
<li><a href="#org920bdd0">Function description</a></li>
<li><a href="#orgbc7950f">Optional Parameters</a></li>
<li><a href="#org4ef4a9f">Add Payload Type</a></li>
<li><a href="#org3243d76">Add Stiffness, Damping and Mass properties of the Payload</a></li>
</ul>
</li>
<li><a href="#orgd9e12ef">6.2. Ground</a>
<ul>
<li><a href="#org920bdd0">Function description</a></li>
<li><a href="#orgfa4bbf4">Optional Parameters</a></li>
<li><a href="#orgc300ecf">Function description</a></li>
<li><a href="#org1ee272a">Optional Parameters</a></li>
<li><a href="#org2d22970">Add Ground Type</a></li>
<li><a href="#orgf76def4">Add Stiffness and Damping properties of the Ground</a></li>
<li><a href="#orgdb67a68">Rotation Point</a></li>
@@ -67,8 +67,8 @@
</li>
<li><a href="#org6d3b61e">7. Initialize Disturbances</a>
<ul>
<li><a href="#orgf14752d">Function Declaration and Documentation</a></li>
<li><a href="#orga64679c">Optional Parameters</a></li>
<li><a href="#orgf124972">Function Declaration and Documentation</a></li>
<li><a href="#org668f4bb">Optional Parameters</a></li>
<li><a href="#org0f7e4dd">Structure initialization</a></li>
<li><a href="#org1a28fcd">Ground Motion</a></li>
<li><a href="#org90b72d6">Direct Forces</a></li>
@@ -76,8 +76,8 @@
</li>
<li><a href="#org93f2d30">8. Initialize References</a>
<ul>
<li><a href="#orgf124972">Function Declaration and Documentation</a></li>
<li><a href="#orgbc7950f">Optional Parameters</a></li>
<li><a href="#org81500bb">Function Declaration and Documentation</a></li>
<li><a href="#org05322ee">Optional Parameters</a></li>
<li><a href="#org6f05adc">8.1. Compute the corresponding strut length</a></li>
<li><a href="#orgda73a50">References</a></li>
</ul>
@@ -144,7 +144,7 @@ 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(<span class="org-string">'mat/conf_simscape.mat'</span>);
</pre>
</div>
@@ -152,7 +152,7 @@ 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"><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>
</div>
</div>
@@ -303,50 +303,50 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
</p>
</div>
<div id="outline-container-org9c0e404" class="outline-4">
<h4 id="org9c0e404">Function description</h4>
<div class="outline-text-4" id="text-org9c0e404">
<div id="outline-container-org920bdd0" class="outline-4">
<h4 id="org920bdd0">Function description</h4>
<div class="outline-text-4" id="text-org920bdd0">
<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"><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>
</div>
</div>
</div>
<div id="outline-container-orgabc81c1" class="outline-4">
<h4 id="orgabc81c1">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgabc81c1">
<div id="outline-container-orgbc7950f" class="outline-4">
<h4 id="orgbc7950f">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgbc7950f">
<div class="org-src-container">
<pre class="src src-matlab"> <span class="org-keyword">arguments</span>
<span class="org-variable-name">args</span>.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>
<span class="org-variable-name">args</span>.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(6,1)
<span class="org-variable-name">args</span>.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(6,1)
<span class="org-variable-name">args</span>.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e<span class="org-type">-</span>3
<span class="org-variable-name">args</span>.m (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
<span class="org-variable-name">args</span>.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1<span class="org-type">*</span>eye(3)
<span class="org-keyword">end</span>
<pre class="src src-matlab"><span class="org-keyword">arguments</span>
<span class="org-variable-name">args</span>.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>
<span class="org-variable-name">args</span>.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(6,1)
<span class="org-variable-name">args</span>.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(6,1)
<span class="org-variable-name">args</span>.h (1,1) double {mustBeNumeric, mustBeNonnegative} = 100e<span class="org-type">-</span>3
<span class="org-variable-name">args</span>.m (1,1) double {mustBeNumeric, mustBeNonnegative} = 10
<span class="org-variable-name">args</span>.I (3,3) double {mustBeNumeric, mustBeNonnegative} = 1<span class="org-type">*</span>eye(3)
<span class="org-keyword">end</span>
</pre>
</div>
</div>
@@ -356,16 +356,16 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
<h4 id="org4ef4a9f">Add Payload Type</h4>
<div class="outline-text-4" id="text-org4ef4a9f">
<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>
payload.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
payload.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
payload.type = 3;
<span class="org-keyword">case</span> <span class="org-string">'cartesian'</span>
payload.type = 4;
<span class="org-keyword">end</span>
<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>
payload.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
payload.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
payload.type = 3;
<span class="org-keyword">case</span> <span class="org-string">'cartesian'</span>
payload.type = 4;
<span class="org-keyword">end</span>
</pre>
</div>
</div>
@@ -375,12 +375,12 @@ This Matlab function is accessible <a href="../src/initializePayload.m">here</a>
<h4 id="org3243d76">Add Stiffness, Damping and Mass properties of the Payload</h4>
<div class="outline-text-4" id="text-org3243d76">
<div class="org-src-container">
<pre class="src src-matlab"> payload.K = args.K;
payload.C = args.C;
payload.m = args.m;
payload.I = args.I;
<pre class="src src-matlab">payload.K = args.K;
payload.C = args.C;
payload.m = args.m;
payload.I = args.I;
payload.h = args.h;
payload.h = args.h;
</pre>
</div>
</div>
@@ -399,42 +399,42 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
</p>
</div>
<div id="outline-container-org920bdd0" class="outline-4">
<h4 id="org920bdd0">Function description</h4>
<div class="outline-text-4" id="text-org920bdd0">
<div id="outline-container-orgc300ecf" class="outline-4">
<h4 id="orgc300ecf">Function description</h4>
<div class="outline-text-4" id="text-orgc300ecf">
<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"><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>
</div>
</div>
</div>
<div id="outline-container-orgfa4bbf4" class="outline-4">
<h4 id="orgfa4bbf4">Optional Parameters</h4>
<div class="outline-text-4" id="text-orgfa4bbf4">
<div id="outline-container-org1ee272a" class="outline-4">
<h4 id="org1ee272a">Optional Parameters</h4>
<div class="outline-text-4" id="text-org1ee272a">
<div class="org-src-container">
<pre class="src src-matlab"> <span class="org-keyword">arguments</span>
<pre class="src src-matlab"><span class="org-keyword">arguments</span>
<span class="org-variable-name">args</span>.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>
<span class="org-variable-name">args</span>.rot_point (3,1) double {mustBeNumeric} = zeros(3,1)
<span class="org-variable-name">args</span>.K (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e8<span class="org-type">*</span>ones(3,1)
<span class="org-variable-name">args</span>.C (3,1) double {mustBeNumeric, mustBeNonnegative} = 1e1<span class="org-type">*</span>ones(3,1)
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
</pre>
</div>
</div>
@@ -444,14 +444,14 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h4 id="org2d22970">Add Ground Type</h4>
<div class="outline-text-4" id="text-org2d22970">
<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>
ground.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
ground.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
ground.type = 3;
<span class="org-keyword">end</span>
<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>
ground.type = 1;
<span class="org-keyword">case</span> <span class="org-string">'rigid'</span>
ground.type = 2;
<span class="org-keyword">case</span> <span class="org-string">'flexible'</span>
ground.type = 3;
<span class="org-keyword">end</span>
</pre>
</div>
</div>
@@ -461,8 +461,8 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h4 id="orgf76def4">Add Stiffness and Damping properties of the Ground</h4>
<div class="outline-text-4" id="text-orgf76def4">
<div class="org-src-container">
<pre class="src src-matlab"> ground.K = args.K;
ground.C = args.C;
<pre class="src src-matlab">ground.K = args.K;
ground.C = args.C;
</pre>
</div>
</div>
@@ -472,7 +472,7 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h4 id="orgdb67a68">Rotation Point</h4>
<div class="outline-text-4" id="text-orgdb67a68">
<div class="org-src-container">
<pre class="src src-matlab"> ground.rot_point = args.rot_point;
<pre class="src src-matlab">ground.rot_point = args.rot_point;
</pre>
</div>
</div>
@@ -487,33 +487,33 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
</p>
</div>
<div id="outline-container-orgf14752d" class="outline-3">
<h3 id="orgf14752d">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-orgf14752d">
<div id="outline-container-orgf124972" class="outline-3">
<h3 id="orgf124972">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-orgf124972">
<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"><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>
</div>
</div>
</div>
<div id="outline-container-orga64679c" class="outline-3">
<h3 id="orga64679c">Optional Parameters</h3>
<div class="outline-text-3" id="text-orga64679c">
<div id="outline-container-org668f4bb" class="outline-3">
<h3 id="org668f4bb">Optional Parameters</h3>
<div class="outline-text-3" id="text-org668f4bb">
<div class="org-src-container">
<pre class="src src-matlab"> <span class="org-keyword">arguments</span>
<pre class="src src-matlab"><span class="org-keyword">arguments</span>
<span class="org-variable-name">args</span>.Fd double {mustBeNumeric, mustBeReal} = zeros(6,1)
<span class="org-variable-name">args</span>.Fd_t double {mustBeNumeric, mustBeReal} = 0
<span class="org-variable-name">args</span>.Dw double {mustBeNumeric, mustBeReal} = zeros(6,1)
<span class="org-variable-name">args</span>.Dw_t double {mustBeNumeric, mustBeReal} = 0
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
</pre>
</div>
</div>
@@ -524,7 +524,7 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h3 id="org0f7e4dd">Structure initialization</h3>
<div class="outline-text-3" id="text-org0f7e4dd">
<div class="org-src-container">
<pre class="src src-matlab"> disturbances = struct();
<pre class="src src-matlab">disturbances = struct();
</pre>
</div>
</div>
@@ -534,7 +534,7 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h3 id="org1a28fcd">Ground Motion</h3>
<div class="outline-text-3" id="text-org1a28fcd">
<div class="org-src-container">
<pre class="src src-matlab"> disturbances.Dw = timeseries([args.Dw], args.Dw_t);
<pre class="src src-matlab">disturbances.Dw = timeseries([args.Dw], args.Dw_t);
</pre>
</div>
</div>
@@ -544,7 +544,7 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h3 id="org90b72d6">Direct Forces</h3>
<div class="outline-text-3" id="text-org90b72d6">
<div class="org-src-container">
<pre class="src src-matlab"> disturbances.Fd = timeseries([args.Fd], args.Fd_t);
<pre class="src src-matlab">disturbances.Fd = timeseries([args.Fd], args.Fd_t);
</pre>
</div>
</div>
@@ -559,32 +559,32 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
</p>
</div>
<div id="outline-container-orgf124972" class="outline-3">
<h3 id="orgf124972">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-orgf124972">
<div id="outline-container-org81500bb" class="outline-3">
<h3 id="org81500bb">Function Declaration and Documentation</h3>
<div class="outline-text-3" id="text-org81500bb">
<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"><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>
</div>
</div>
</div>
<div id="outline-container-orgbc7950f" class="outline-3">
<h3 id="orgbc7950f">Optional Parameters</h3>
<div class="outline-text-3" id="text-orgbc7950f">
<div id="outline-container-org05322ee" class="outline-3">
<h3 id="org05322ee">Optional Parameters</h3>
<div class="outline-text-3" id="text-org05322ee">
<div class="org-src-container">
<pre class="src src-matlab"> <span class="org-keyword">arguments</span>
<pre class="src src-matlab"><span class="org-keyword">arguments</span>
<span class="org-variable-name">stewart</span>
<span class="org-variable-name">args</span>.t double {mustBeNumeric, mustBeReal} = 0
<span class="org-variable-name">args</span>.r double {mustBeNumeric, mustBeReal} = zeros(6, 1)
<span class="org-keyword">end</span>
<span class="org-keyword">end</span>
</pre>
</div>
</div>
@@ -594,22 +594,22 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h3 id="org6f05adc"><span class="section-number-3">8.1</span> Compute the corresponding strut length</h3>
<div class="outline-text-3" id="text-8-1">
<div class="org-src-container">
<pre class="src src-matlab"> rL = zeros(6, length(args.t));
<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>
<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>));
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> ...
<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> ...
[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>))];
[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, <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>
</pre>
</div>
</div>
@@ -619,8 +619,8 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
<h3 id="orgda73a50">References</h3>
<div class="outline-text-3" id="text-orgda73a50">
<div class="org-src-container">
<pre class="src src-matlab"> references.r = timeseries(args.r, args.t);
references.rL = timeseries(rL, args.t);
<pre class="src src-matlab">references.r = timeseries(args.r, args.t);
references.rL = timeseries(rL, args.t);
</pre>
</div>
</div>
@@ -629,7 +629,7 @@ This Matlab function is accessible <a href="../src/initializeGround.m">here</a>.
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2021-01-08 ven. 15:29</p>
<p class="date">Created: 2021-01-08 ven. 15:52</p>
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