stewart-simscape/Position_max.m
2018-05-03 16:05:00 +02:00

23 lines
596 B
Matlab

lmax = 80e-6;
theta = linspace(0, 2*pi, 100);
phi = linspace(-pi/2 , pi/2, 100);
dmax = zeros(length(theta), length(phi));
for i = 1:length(theta)
for j = 1:length(phi)
L = J*[cos(phi(j))*cos(theta(i)) cos(phi(j))*sin(theta(i)) sin(phi(j)) 0 0 0]';
lmaxbis = max(abs(L));
dmax(i, j) = lmax/lmaxbis;
end
end
X = dmax.*cos(repmat(phi,length(theta),1)).*cos(repmat(theta,length(phi),1))';
Y = dmax.*cos(repmat(phi,length(theta),1)).*sin(repmat(theta,length(phi),1))';
Z = dmax.*sin(repmat(phi,length(theta),1));
figure;
hold on;
mesh(X, Y, Z);
colorbar;
hold off;