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<h1 class="title">Stewart Platform - Active Damping</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgbab9da7">1. Inertial Control</a>
<ul>
<li><a href="#orgd9e8d20">1.1. Simscape Model</a></li>
<li><a href="#orge6285ea">1.2. Initialize the Stewart model</a></li>
<li><a href="#org471f4bb">1.3. Identification of the Dynamics</a></li>
<li><a href="#org30b2e11">1.4. Analysis</a></li>
<li><a href="#org7f07dca">1.5. Conclusion</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="outline-container-orgbab9da7" class="outline-2">
<h2 id="orgbab9da7"><span class="section-number-2">1</span> Inertial Control</h2>
<div class="outline-text-2" id="text-1">
</div>
<div id="outline-container-orgd9e8d20" class="outline-3">
<h3 id="orgd9e8d20"><span class="section-number-3">1.1</span> Simscape Model</h3>
<div class="outline-text-3" id="text-1-1">
<div class="org-src-container">
<pre class="src src-matlab">open(<span class="org-string">'simulink/stewart_active_damping.slx'</span>)
</pre>
</div>
</div>
</div>
<div id="outline-container-orge6285ea" class="outline-3">
<h3 id="orge6285ea"><span class="section-number-3">1.2</span> Initialize the Stewart model</h3>
<div class="outline-text-3" id="text-1-2">
<div class="org-src-container">
<pre class="src src-matlab">stewart = initializeFramesPositions(<span class="org-string">'H'</span>, 90e<span class="org-type">-</span>3, <span class="org-string">'MO_B'</span>, 45e<span class="org-type">-</span>3);
stewart = generateCubicConfiguration(stewart, <span class="org-string">'Hc'</span>, 40e<span class="org-type">-</span>3, <span class="org-string">'FOc'</span>, 45e<span class="org-type">-</span>3, <span class="org-string">'FHa'</span>, 5e<span class="org-type">-</span>3, <span class="org-string">'MHb'</span>, 5e<span class="org-type">-</span>3);
stewart = computeJointsPose(stewart);
stewart = initializeStrutDynamics(stewart, <span class="org-string">'Ki'</span>, 1e6<span class="org-type">*</span>ones(6,1), <span class="org-string">'Ci'</span>, 1e2<span class="org-type">*</span>ones(6,1));
stewart = computeJacobian(stewart);
</pre>
</div>
</div>
</div>
<div id="outline-container-org471f4bb" class="outline-3">
<h3 id="org471f4bb"><span class="section-number-3">1.3</span> Identification of the Dynamics</h3>
<div class="outline-text-3" id="text-1-3">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
options = linearizeOptions;
options.SampleTime = 0;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
mdl = <span class="org-string">'stewart_active_damping'</span>;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
clear io; io_i = 1;
io(io_i) = linio([mdl, <span class="org-string">'/F'</span>], 1, <span class="org-string">'openinput'</span>); io_i = io_i <span class="org-type">+</span> 1;
io(io_i) = linio([mdl, <span class="org-string">'/WVB'</span>], 1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1;
io(io_i) = linio([mdl, <span class="org-string">'/Dm'</span>], 1, <span class="org-string">'openoutput'</span>); io_i = io_i <span class="org-type">+</span> 1;
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
G = linearize(mdl, io, options);
G.InputName = {<span class="org-string">'F1'</span>, <span class="org-string">'F2'</span>, <span class="org-string">'F3'</span>, <span class="org-string">'F4'</span>, <span class="org-string">'F5'</span>, <span class="org-string">'F6'</span>};
G.OutputName = {<span class="org-string">'Vx'</span>, <span class="org-string">'Vy'</span>, <span class="org-string">'Vz'</span>, <span class="org-string">'Wx'</span>, <span class="org-string">'Wy'</span>, <span class="org-string">'Wz'</span>, ...
<span class="org-string">'D1'</span>, <span class="org-string">'D2'</span>, <span class="org-string">'D3'</span>, <span class="org-string">'D4'</span>, <span class="org-string">'D5'</span>, <span class="org-string">'D6'</span>};
</pre>
</div>
</div>
</div>
<div id="outline-container-org30b2e11" class="outline-3">
<h3 id="org30b2e11"><span class="section-number-3">1.4</span> Analysis</h3>
<div class="outline-text-3" id="text-1-4">
<div class="org-src-container">
<pre class="src src-matlab">freqs = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>logspace(1, 4, 1000);
<span class="org-type">figure</span>;
bode(G({<span class="org-string">'D1'</span>, <span class="org-string">'D2'</span>, <span class="org-string">'D3'</span>, <span class="org-string">'D4'</span>, <span class="org-string">'D5'</span>, <span class="org-string">'D6'</span>}, {<span class="org-string">'F1'</span>, <span class="org-string">'F2'</span>, <span class="org-string">'F3'</span>, <span class="org-string">'F4'</span>, <span class="org-string">'F5'</span>, <span class="org-string">'F6'</span>}), freqs)
<span class="org-type">figure</span>;
bode(stewart.J<span class="org-type">*</span>G({<span class="org-string">'Vx'</span>, <span class="org-string">'Vy'</span>, <span class="org-string">'Vz'</span>, <span class="org-string">'Wx'</span>, <span class="org-string">'Wy'</span>, <span class="org-string">'Wz'</span>}, {<span class="org-string">'F1'</span>, <span class="org-string">'F2'</span>, <span class="org-string">'F3'</span>, <span class="org-string">'F4'</span>, <span class="org-string">'F5'</span>, <span class="org-string">'F6'</span>}), freqs)
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
bode(G({<span class="org-string">'D1'</span>, <span class="org-string">'D2'</span>, <span class="org-string">'D3'</span>, <span class="org-string">'D4'</span>, <span class="org-string">'D5'</span>, <span class="org-string">'D6'</span>}, {<span class="org-string">'F1'</span>, <span class="org-string">'F2'</span>, <span class="org-string">'F3'</span>, <span class="org-string">'F4'</span>, <span class="org-string">'F5'</span>, <span class="org-string">'F6'</span>}), stewart.J<span class="org-type">*</span>G({<span class="org-string">'Vx'</span>, <span class="org-string">'Vy'</span>, <span class="org-string">'Vz'</span>, <span class="org-string">'Wx'</span>, <span class="org-string">'Wy'</span>, <span class="org-string">'Wz'</span>}, {<span class="org-string">'F1'</span>, <span class="org-string">'F2'</span>, <span class="org-string">'F3'</span>, <span class="org-string">'F4'</span>, <span class="org-string">'F5'</span>, <span class="org-string">'F6'</span>}), freqs)
</pre>
</div>
</div>
</div>
<div id="outline-container-org7f07dca" class="outline-3">
<h3 id="org7f07dca"><span class="section-number-3">1.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-1-5">
<p>
It is similar to use:
</p>
<ul class="org-ul">
<li>one 6dof inertial sensor and the Jacobian the have the velocity of each lim</li>
<li>6 1dof inertial sensor in each top part of the limbs</li>
</ul>
</div>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-01-22 mer. 16:31</p>
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