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Needed Actuator Stroke</a> <ul> <li><a href="#org119868f">1.1. Stewart architecture definition</a></li> <li><a href="#org8ece9f1">1.2. Wanted translations and rotations</a></li> <li><a href="#org8cd9dfc">1.3. Needed stroke for "pure" rotations or translations</a></li> <li><a href="#org9acbff2">1.4. Needed stroke for combined translations and rotations</a></li> </ul> </li> <li><a href="#org0aef174">2. Maximum Stroke</a></li> <li><a href="#orgff4f3e2">3. Functions</a> <ul> <li><a href="#orgca8f528">3.1. getMaxPositions</a></li> <li><a href="#org0ac04ca">3.2. getMaxPureDisplacement</a></li> </ul> </li> </ul> </div> </div> <div id="outline-container-org4a99119" class="outline-2"> <h2 id="org4a99119"><span class="section-number-2">1</span> Needed Actuator Stroke</h2> <div class="outline-text-2" id="text-1"> <p> The goal is to determine the needed stroke of the actuators to obtain wanted translations and rotations. </p> </div> <div id="outline-container-org119868f" class="outline-3"> <h3 id="org119868f"><span class="section-number-3">1.1</span> Stewart architecture definition</h3> <div class="outline-text-3" id="text-1-1"> <p> We use a cubic architecture. </p> <div class="org-src-container"> <pre class="src src-matlab">opts = struct<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-underline">...</span> <span class="org-string">'H_tot'</span>, <span class="org-highlight-numbers-number">90</span>, <span class="org-underline">...</span> <span class="org-comment">% Total height of the Hexapod [mm]</span> <span class="org-string">'L'</span>, <span class="org-highlight-numbers-number">200</span><span class="org-type">/</span>sqrt<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-underline">...</span> <span class="org-comment">% Size of the Cube [mm]</span> <span class="org-string">'H'</span>, <span class="org-highlight-numbers-number">60</span>, <span class="org-underline">...</span> <span class="org-comment">% Height between base joints and platform joints [mm]</span> <span class="org-string">'H0'</span>, <span class="org-highlight-numbers-number">200</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span><span class="org-type">-</span><span class="org-highlight-numbers-number">60</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span> <span class="org-underline">...</span> <span class="org-comment">% Height between the corner of the cube and the plane containing the base joints [mm]</span> <span class="org-rainbow-delimiters-depth-1">)</span>; stewart = initializeCubicConfiguration<span class="org-rainbow-delimiters-depth-1">(</span>opts<span class="org-rainbow-delimiters-depth-1">)</span>; opts = struct<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-underline">...</span> <span class="org-string">'Jd_pos'</span>, <span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-2">]</span>, <span class="org-underline">...</span> <span class="org-comment">% Position of the Jacobian for displacement estimation from the top of the mobile platform [mm]</span> <span class="org-string">'Jf_pos'</span>, <span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-type">-</span><span class="org-highlight-numbers-number">50</span><span class="org-rainbow-delimiters-depth-2">]</span> <span class="org-underline">...</span> <span class="org-comment">% Position of the Jacobian for force location from the top of the mobile platform [mm]</span> <span class="org-rainbow-delimiters-depth-1">)</span>; stewart = computeGeometricalProperties<span class="org-rainbow-delimiters-depth-1">(</span>stewart, opts<span class="org-rainbow-delimiters-depth-1">)</span>; opts = struct<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-underline">...</span> <span class="org-string">'stroke'</span>, <span class="org-highlight-numbers-number">50e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span> <span class="org-underline">...</span> <span class="org-comment">% Maximum stroke of each actuator [m]</span> <span class="org-rainbow-delimiters-depth-1">)</span>; stewart = initializeMechanicalElements<span class="org-rainbow-delimiters-depth-1">(</span>stewart, opts<span class="org-rainbow-delimiters-depth-1">)</span>; save<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'./mat/stewart.mat', 'stewart'</span><span class="org-rainbow-delimiters-depth-1">)</span>; </pre> </div> </div> </div> <div id="outline-container-org8ece9f1" class="outline-3"> <h3 id="org8ece9f1"><span class="section-number-3">1.2</span> Wanted translations and rotations</h3> <div class="outline-text-3" id="text-1-2"> <p> We define wanted translations and rotations </p> <div class="org-src-container"> <pre class="src src-matlab">Tx_max = <span class="org-highlight-numbers-number">15e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Translation [m]</span> Ty_max = <span class="org-highlight-numbers-number">15e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Translation [m]</span> Tz_max = <span class="org-highlight-numbers-number">15e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Translation [m]</span> Rx_max = <span class="org-highlight-numbers-number">30e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Rotation [rad]</span> Ry_max = <span class="org-highlight-numbers-number">30e</span><span class="org-type">-</span><span class="org-highlight-numbers-number">6</span>; <span class="org-comment">% Rotation [rad]</span> </pre> </div> </div> </div> <div id="outline-container-org8cd9dfc" class="outline-3"> <h3 id="org8cd9dfc"><span class="section-number-3">1.3</span> Needed stroke for "pure" rotations or translations</h3> <div class="outline-text-3" id="text-1-3"> <p> First, we estimate the needed actuator stroke for "pure" rotations and translation. </p> <div class="org-src-container"> <pre class="src src-matlab">LTx = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span>Tx_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>'; LTy = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> Ty_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>'; LTz = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> Tz_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>'; LRx = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> Rx_max <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>'; LRy = stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> Ry_max <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>'; </pre> </div> <pre class="example"> From -1.2e-05[m] to 1.1e-05[m]: Total stroke = 22.9[um] </pre> </div> </div> <div id="outline-container-org9acbff2" class="outline-3"> <h3 id="org9acbff2"><span class="section-number-3">1.4</span> Needed stroke for combined translations and rotations</h3> <div class="outline-text-3" id="text-1-4"> <p> Now, we combine translations and rotations, and we try to find the worst case (that we suppose to happen at the border). </p> <div class="org-src-container"> <pre class="src src-matlab">Lmax = <span class="org-highlight-numbers-number">0</span>; Lmin = <span class="org-highlight-numbers-number">0</span>; pos = <span class="org-rainbow-delimiters-depth-1">[</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>; <span class="org-keyword">for</span> <span class="org-variable-name">Tx</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Tx_max</span>,Tx_max<span class="org-rainbow-delimiters-depth-1">]</span> <span class="org-keyword">for</span> <span class="org-variable-name">Ty</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Ty_max</span>,Ty_max<span class="org-rainbow-delimiters-depth-1">]</span> <span class="org-keyword">for</span> <span class="org-variable-name">Tz</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Tz_max</span>,Tz_max<span class="org-rainbow-delimiters-depth-1">]</span> <span class="org-keyword">for</span> <span class="org-variable-name">Rx</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Rx_max</span>,Rx_max<span class="org-rainbow-delimiters-depth-1">]</span> <span class="org-keyword">for</span> <span class="org-variable-name">Ry</span> = <span class="org-constant"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-constant">-Ry_max</span>,Ry_max<span class="org-rainbow-delimiters-depth-1">]</span> lmax = max<span class="org-rainbow-delimiters-depth-1">(</span>stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-2">[</span>Tx Ty Tz Rx Ry <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-2">]</span>'<span class="org-rainbow-delimiters-depth-1">)</span>; lmin = min<span class="org-rainbow-delimiters-depth-1">(</span>stewart.Jd<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-2">[</span>Tx Ty Tz Rx Ry <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-2">]</span>'<span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-keyword">if</span> lmax <span class="org-type">></span> Lmax Lmax = lmax; pos = <span class="org-rainbow-delimiters-depth-1">[</span>Tx Ty Tz Rx Ry<span class="org-rainbow-delimiters-depth-1">]</span>; <span class="org-keyword">end</span> <span class="org-keyword">if</span> lmin <span class="org-type"><</span> Lmin Lmin = lmin; <span class="org-keyword">end</span> <span class="org-keyword">end</span> <span class="org-keyword">end</span> <span class="org-keyword">end</span> <span class="org-keyword">end</span> <span class="org-keyword">end</span> </pre> </div> <p> We obtain a needed stroke shown below (almost two times the needed stroke for "pure" rotations and translations). </p> <pre class="example"> From -3.1e-05[m] to 3.1e-05[m]: Total stroke = 61.5[um] </pre> </div> </div> </div> <div id="outline-container-org0aef174" class="outline-2"> <h2 id="org0aef174"><span class="section-number-2">2</span> Maximum Stroke</h2> <div class="outline-text-2" id="text-2"> <p> From a specified actuator stroke, we try to estimate the available maneuverability of the Stewart platform. </p> <div class="org-src-container"> <pre class="src src-matlab"><span class="org-rainbow-delimiters-depth-1">[</span>X, Y, Z<span class="org-rainbow-delimiters-depth-1">]</span> = getMaxPositions<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">stewart</span><span class="org-rainbow-delimiters-depth-1">)</span>; </pre> </div> <div class="org-src-container"> <pre class="src src-matlab"><span class="org-type">figure</span>; plot3<span class="org-rainbow-delimiters-depth-1">(</span>X, Y, Z, <span class="org-string">'k-'</span><span class="org-rainbow-delimiters-depth-1">)</span> </pre> </div> </div> </div> <div id="outline-container-orgff4f3e2" class="outline-2"> <h2 id="orgff4f3e2"><span class="section-number-2">3</span> Functions</h2> <div class="outline-text-2" id="text-3"> </div> <div id="outline-container-orgca8f528" class="outline-3"> <h3 id="orgca8f528"><span class="section-number-3">3.1</span> getMaxPositions</h3> <div class="outline-text-3" id="text-3-1"> <div class="org-src-container"> <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-variable-name">X, Y, Z</span><span class="org-variable-name"><span class="org-rainbow-delimiters-depth-1">]</span></span> = <span class="org-function-name">getMaxPositions</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">stewart</span><span class="org-rainbow-delimiters-depth-1">)</span> Leg = stewart.Leg; J = stewart.Jd; theta = linspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">0</span>, <span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span>, <span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span>; phi = linspace<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">-</span><span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span> , <span class="org-constant">pi</span><span class="org-type">/</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">100</span><span class="org-rainbow-delimiters-depth-1">)</span>; dmax = zeros<span class="org-rainbow-delimiters-depth-1">(</span>length<span class="org-rainbow-delimiters-depth-2">(</span>theta<span class="org-rainbow-delimiters-depth-2">)</span>, length<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-keyword">for</span> <span class="org-variable-name">i</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:length</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-constant">theta</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">)</span></span> <span class="org-keyword">for</span> <span class="org-variable-name">j</span> = <span class="org-constant"><span class="org-highlight-numbers-number">1</span></span><span class="org-constant">:length</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-constant">phi</span><span class="org-constant"><span class="org-rainbow-delimiters-depth-1">)</span></span> L = J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-1">[</span>cos<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">*</span>cos<span class="org-rainbow-delimiters-depth-2">(</span>theta<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">i</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span> cos<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-type">*</span>sin<span class="org-rainbow-delimiters-depth-2">(</span>theta<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">i</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span> sin<span class="org-rainbow-delimiters-depth-2">(</span>phi<span class="org-rainbow-delimiters-depth-3">(</span><span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-1">]</span>'; dmax<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-constant">i</span>, <span class="org-constant">j</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>L<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-keyword">end</span> <span class="org-keyword">end</span> X = dmax<span class="org-type">.*</span>cos<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>phi,length<span class="org-rainbow-delimiters-depth-3">(</span>theta<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">.*</span>cos<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>theta,length<span class="org-rainbow-delimiters-depth-3">(</span>phi<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>'; Y = dmax<span class="org-type">.*</span>cos<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>phi,length<span class="org-rainbow-delimiters-depth-3">(</span>theta<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span><span class="org-type">.*</span>sin<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>theta,length<span class="org-rainbow-delimiters-depth-3">(</span>phi<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>'; Z = dmax<span class="org-type">.*</span>sin<span class="org-rainbow-delimiters-depth-1">(</span>repmat<span class="org-rainbow-delimiters-depth-2">(</span>phi,length<span class="org-rainbow-delimiters-depth-3">(</span>theta<span class="org-rainbow-delimiters-depth-3">)</span>,<span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-keyword">end</span> </pre> </div> </div> </div> <div id="outline-container-org0ac04ca" class="outline-3"> <h3 id="org0ac04ca"><span class="section-number-3">3.2</span> getMaxPureDisplacement</h3> <div class="outline-text-3" id="text-3-2"> <div class="org-src-container"> <pre class="src src-matlab"><span class="org-keyword">function</span> <span class="org-variable-name"><span class="org-rainbow-delimiters-depth-1">[</span></span><span class="org-variable-name">max_disp</span><span class="org-variable-name"><span class="org-rainbow-delimiters-depth-1">]</span></span> = <span class="org-function-name">getMaxPureDisplacement</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">Leg</span>, <span class="org-variable-name">J</span><span class="org-rainbow-delimiters-depth-1">)</span> max_disp = zeros<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">6</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span>; max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">4</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">5</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span> <span class="org-highlight-numbers-number">0</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; max_disp<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">6</span><span class="org-rainbow-delimiters-depth-1">)</span> = Leg.stroke<span class="org-type">/</span>max<span class="org-rainbow-delimiters-depth-1">(</span>abs<span class="org-rainbow-delimiters-depth-2">(</span>J<span class="org-type">*</span><span class="org-rainbow-delimiters-depth-3">[</span><span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">0</span> <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-3">]</span>'<span class="org-rainbow-delimiters-depth-2">)</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-keyword">end</span> </pre> </div> </div> </div> </div> </div> <div id="postamble" class="status"> <p class="author">Author: Thomas Dehaeze</p> <p class="date">Created: 2019-08-26 lun. 11:55</p> <p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p> </div> </body> </html>