874 lines
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<a accesskey="H" href="./index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Stewart Platform - Decentralized Active Damping</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#orgd59c804">1. Inertial Control</a>
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<ul>
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<li><a href="#org5f749c8">1.1. Identification of the Dynamics</a></li>
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<li><a href="#orgd0f78f7">1.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
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<li><a href="#org3f64d96">1.3. Obtained Damping</a></li>
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<li><a href="#org8e1ece7">1.4. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org74c7eb4">2. Integral Force Feedback</a>
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<ul>
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<li><a href="#orgcd99b62">2.1. Identification of the Dynamics with perfect Joints</a></li>
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<li><a href="#org1b7a953">2.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
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<li><a href="#org1d362f0">2.3. Obtained Damping</a></li>
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<li><a href="#org63f9110">2.4. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org08917d6">3. Direct Velocity Feedback</a>
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<ul>
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<li><a href="#org5364f58">3.1. Identification of the Dynamics with perfect Joints</a></li>
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<li><a href="#org81b6713">3.2. Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</a></li>
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<li><a href="#orge328103">3.3. Obtained Damping</a></li>
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<li><a href="#org48c963f">3.4. Conclusion</a></li>
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</ul>
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</li>
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<li><a href="#org183f3f2">4. Compliance and Transmissibility Comparison</a>
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<ul>
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<li><a href="#org0ed1499">4.1. Initialization</a></li>
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<li><a href="#orgcd64c04">4.2. Identification</a></li>
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<li><a href="#orgd30c62d">4.3. Results</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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<p>
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The following decentralized active damping techniques are briefly studied:
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</p>
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<ul class="org-ul">
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<li>Inertial Control (proportional feedback of the absolute velocity): Section <a href="#orgeb37c7d">1</a></li>
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<li>Integral Force Feedback: Section <a href="#orgab5e6b5">2</a></li>
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<li>Direct feedback of the relative velocity of each strut: Section <a href="#org0aa816a">3</a></li>
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</ul>
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<div id="outline-container-orgd59c804" class="outline-2">
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<h2 id="orgd59c804"><span class="section-number-2">1</span> Inertial Control</h2>
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<div class="outline-text-2" id="text-1">
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<p>
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<a id="orgeb37c7d"></a>
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</p>
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<div class="note">
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<p>
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The Matlab script corresponding to this section is accessible <a href="../matlab/active_damping_inertial.m">here</a>.
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</p>
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<p>
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To run the script, open the Simulink Project, and type <code>run active_damping_inertial.m</code>.
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</p>
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</div>
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</div>
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<div id="outline-container-org5f749c8" class="outline-3">
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<h3 id="org5f749c8"><span class="section-number-3">1.1</span> Identification of the Dynamics</h3>
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<div class="outline-text-3" id="text-1-1">
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<div class="org-src-container">
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<pre class="src src-matlab">stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, <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);
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stewart = generateGeneralConfiguration(stewart);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart);
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stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
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stewart = initializeCylindricalPlatforms(stewart);
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stewart = initializeCylindricalStruts(stewart);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart);
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stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'accelerometer'</span>, <span class="org-string">'freq'</span>, 5e3);
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
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payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
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controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Options for Linearized</span></span>
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options = linearizeOptions;
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options.SampleTime = 0;
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<span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
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mdl = <span class="org-string">'stewart_platform_model'</span>;
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<span class="org-matlab-cellbreak"><span class="org-comment">%% Input/Output definition</span></span>
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clear io; io_i = 1;
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io(io_i) = linio([mdl, <span class="org-string">'/Controller'</span>], 1, <span class="org-string">'openinput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
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io(io_i) = linio([mdl, <span class="org-string">'/Stewart Platform'</span>], 1, <span class="org-string">'openoutput'</span>, [], <span class="org-string">'Vm'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Absolute velocity of each leg [m/s]</span>
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<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
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G = linearize(mdl, io, options);
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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>};
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G.OutputName = {<span class="org-string">'Vm1'</span>, <span class="org-string">'Vm2'</span>, <span class="org-string">'Vm3'</span>, <span class="org-string">'Vm4'</span>, <span class="org-string">'Vm5'</span>, <span class="org-string">'Vm6'</span>};
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</pre>
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</div>
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<p>
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The transfer function from actuator forces to force sensors is shown in Figure <a href="#org834d990">1</a>.
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</p>
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<div id="org834d990" class="figure">
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<p><img src="figs/inertial_plant_coupling.png" alt="inertial_plant_coupling.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Transfer function from the Actuator force \(F_{i}\) to the absolute velocity of the same leg \(v_{m,i}\) and to the absolute velocity of the other legs \(v_{m,j}\) with \(i \neq j\) in grey (<a href="./figs/inertial_plant_coupling.png">png</a>, <a href="./figs/inertial_plant_coupling.pdf">pdf</a>)</p>
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</div>
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</div>
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</div>
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<div id="outline-container-orgd0f78f7" class="outline-3">
|
|
<h3 id="orgd0f78f7"><span class="section-number-3">1.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
|
|
<div class="outline-text-3" id="text-1-2">
|
|
<p>
|
|
We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical'</span>);
|
|
Gf = linearize(mdl, io, options);
|
|
Gf.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>};
|
|
Gf.OutputName = {<span class="org-string">'Vm1'</span>, <span class="org-string">'Vm2'</span>, <span class="org-string">'Vm3'</span>, <span class="org-string">'Vm4'</span>, <span class="org-string">'Vm5'</span>, <span class="org-string">'Vm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
We now use the amplified actuators and re-identify the dynamics
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">stewart = initializeAmplifiedStrutDynamics(stewart);
|
|
Ga = linearize(mdl, io, options);
|
|
Ga.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>};
|
|
Ga.OutputName = {<span class="org-string">'Vm1'</span>, <span class="org-string">'Vm2'</span>, <span class="org-string">'Vm3'</span>, <span class="org-string">'Vm4'</span>, <span class="org-string">'Vm5'</span>, <span class="org-string">'Vm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
The new dynamics from force actuator to force sensor is shown in Figure <a href="#org683c779">2</a>.
|
|
</p>
|
|
|
|
<div id="org683c779" class="figure">
|
|
<p><img src="figs/inertial_plant_flexible_joint_decentralized.png" alt="inertial_plant_flexible_joint_decentralized.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 2: </span>Transfer function from the Actuator force \(F_{i}\) to the absolute velocity sensor \(v_{m,i}\) (<a href="./figs/inertial_plant_flexible_joint_decentralized.png">png</a>, <a href="./figs/inertial_plant_flexible_joint_decentralized.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org3f64d96" class="outline-3">
|
|
<h3 id="org3f64d96"><span class="section-number-3">1.3</span> Obtained Damping</h3>
|
|
<div class="outline-text-3" id="text-1-3">
|
|
<p>
|
|
The control is a performed in a decentralized manner.
|
|
The \(6 \times 6\) control is a diagonal matrix with pure proportional action on the diagonal:
|
|
\[ K(s) = g
|
|
\begin{bmatrix}
|
|
1 & & 0 \\
|
|
& \ddots & \\
|
|
0 & & 1
|
|
\end{bmatrix} \]
|
|
</p>
|
|
|
|
<p>
|
|
The root locus is shown in figure <a href="#org9af9e33">3</a>.
|
|
</p>
|
|
|
|
<div id="org9af9e33" class="figure">
|
|
<p><img src="figs/root_locus_inertial_rot_stiffness.png" alt="root_locus_inertial_rot_stiffness.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 3: </span>Root Locus plot with Decentralized Inertial Control when considering the stiffness of flexible joints (<a href="./figs/root_locus_inertial_rot_stiffness.png">png</a>, <a href="./figs/root_locus_inertial_rot_stiffness.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org8e1ece7" class="outline-3">
|
|
<h3 id="org8e1ece7"><span class="section-number-3">1.4</span> Conclusion</h3>
|
|
<div class="outline-text-3" id="text-1-4">
|
|
<div class="important">
|
|
<p>
|
|
We do not have guaranteed stability with Inertial control. This is because of the flexibility inside the internal sensor.
|
|
</p>
|
|
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org74c7eb4" class="outline-2">
|
|
<h2 id="org74c7eb4"><span class="section-number-2">2</span> Integral Force Feedback</h2>
|
|
<div class="outline-text-2" id="text-2">
|
|
<p>
|
|
<a id="orgab5e6b5"></a>
|
|
</p>
|
|
|
|
<div class="note">
|
|
<p>
|
|
The Matlab script corresponding to this section is accessible <a href="../matlab/active_damping_iff.m">here</a>.
|
|
</p>
|
|
|
|
<p>
|
|
To run the script, open the Simulink Project, and type <code>run active_damping_iff.m</code>.
|
|
</p>
|
|
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-orgcd99b62" class="outline-3">
|
|
<h3 id="orgcd99b62"><span class="section-number-3">2.1</span> Identification of the Dynamics with perfect Joints</h3>
|
|
<div class="outline-text-3" id="text-2-1">
|
|
<p>
|
|
We first initialize the Stewart platform without joint stiffness.
|
|
</p>
|
|
<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>, 45e<span class="org-type">-</span>3);
|
|
stewart = generateGeneralConfiguration(stewart);
|
|
stewart = computeJointsPose(stewart);
|
|
stewart = initializeStrutDynamics(stewart);
|
|
stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
|
|
stewart = initializeCylindricalPlatforms(stewart);
|
|
stewart = initializeCylindricalStruts(stewart);
|
|
stewart = computeJacobian(stewart);
|
|
stewart = initializeStewartPose(stewart);
|
|
stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
|
</pre>
|
|
</div>
|
|
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
|
|
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
|
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
And we identify the dynamics from force actuators to force sensors.
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab"><span class="org-matlab-cellbreak"><span class="org-comment">%% Name of the Simulink File</span></span>
|
|
mdl = <span class="org-string">'stewart_platform_model'</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">'/Controller'</span>], 1, <span class="org-string">'openinput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
|
|
io(io_i) = linio([mdl, <span class="org-string">'/Stewart Platform'</span>], 1, <span class="org-string">'openoutput'</span>, [], <span class="org-string">'Taum'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Force Sensor Outputs [N]</span>
|
|
|
|
<span class="org-matlab-cellbreak"><span class="org-comment">%% Run the linearization</span></span>
|
|
G = linearize(mdl, io);
|
|
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">'Fm1'</span>, <span class="org-string">'Fm2'</span>, <span class="org-string">'Fm3'</span>, <span class="org-string">'Fm4'</span>, <span class="org-string">'Fm5'</span>, <span class="org-string">'Fm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
The transfer function from actuator forces to force sensors is shown in Figure <a href="#org3fca9dd">4</a>.
|
|
</p>
|
|
|
|
<div id="org3fca9dd" class="figure">
|
|
<p><img src="figs/iff_plant_coupling.png" alt="iff_plant_coupling.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 4: </span>Transfer function from the Actuator force \(F_{i}\) to the Force sensor of the same leg \(F_{m,i}\) and to the force sensor of the other legs \(F_{m,j}\) with \(i \neq j\) in grey (<a href="./figs/iff_plant_coupling.png">png</a>, <a href="./figs/iff_plant_coupling.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org1b7a953" class="outline-3">
|
|
<h3 id="org1b7a953"><span class="section-number-3">2.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
|
|
<div class="outline-text-3" id="text-2-2">
|
|
<p>
|
|
We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical'</span>);
|
|
Gf = linearize(mdl, io);
|
|
Gf.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>};
|
|
Gf.OutputName = {<span class="org-string">'Fm1'</span>, <span class="org-string">'Fm2'</span>, <span class="org-string">'Fm3'</span>, <span class="org-string">'Fm4'</span>, <span class="org-string">'Fm5'</span>, <span class="org-string">'Fm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
We now use the amplified actuators and re-identify the dynamics
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">stewart = initializeAmplifiedStrutDynamics(stewart);
|
|
Ga = linearize(mdl, io);
|
|
Ga.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>};
|
|
Ga.OutputName = {<span class="org-string">'Fm1'</span>, <span class="org-string">'Fm2'</span>, <span class="org-string">'Fm3'</span>, <span class="org-string">'Fm4'</span>, <span class="org-string">'Fm5'</span>, <span class="org-string">'Fm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
The new dynamics from force actuator to force sensor is shown in Figure <a href="#org090868b">5</a>.
|
|
</p>
|
|
|
|
<div id="org090868b" class="figure">
|
|
<p><img src="figs/iff_plant_flexible_joint_decentralized.png" alt="iff_plant_flexible_joint_decentralized.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 5: </span>Transfer function from the Actuator force \(F_{i}\) to the force sensor \(F_{m,i}\) (<a href="./figs/iff_plant_flexible_joint_decentralized.png">png</a>, <a href="./figs/iff_plant_flexible_joint_decentralized.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org1d362f0" class="outline-3">
|
|
<h3 id="org1d362f0"><span class="section-number-3">2.3</span> Obtained Damping</h3>
|
|
<div class="outline-text-3" id="text-2-3">
|
|
<p>
|
|
The control is a performed in a decentralized manner.
|
|
The \(6 \times 6\) control is a diagonal matrix with pure integration action on the diagonal:
|
|
\[ K(s) = g
|
|
\begin{bmatrix}
|
|
\frac{1}{s} & & 0 \\
|
|
& \ddots & \\
|
|
0 & & \frac{1}{s}
|
|
\end{bmatrix} \]
|
|
</p>
|
|
|
|
<p>
|
|
The root locus is shown in figure <a href="#orge21bbea">6</a> and the obtained pole damping function of the control gain is shown in figure <a href="#org94d6943">7</a>.
|
|
</p>
|
|
|
|
<div id="orge21bbea" class="figure">
|
|
<p><img src="figs/root_locus_iff_rot_stiffness.png" alt="root_locus_iff_rot_stiffness.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 6: </span>Root Locus plot with Decentralized Integral Force Feedback when considering the stiffness of flexible joints (<a href="./figs/root_locus_iff_rot_stiffness.png">png</a>, <a href="./figs/root_locus_iff_rot_stiffness.pdf">pdf</a>)</p>
|
|
</div>
|
|
|
|
|
|
<div id="org94d6943" class="figure">
|
|
<p><img src="figs/pole_damping_gain_iff_rot_stiffness.png" alt="pole_damping_gain_iff_rot_stiffness.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 7: </span>Damping of the poles with respect to the gain of the Decentralized Integral Force Feedback when considering the stiffness of flexible joints (<a href="./figs/pole_damping_gain_iff_rot_stiffness.png">png</a>, <a href="./figs/pole_damping_gain_iff_rot_stiffness.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org63f9110" class="outline-3">
|
|
<h3 id="org63f9110"><span class="section-number-3">2.4</span> Conclusion</h3>
|
|
<div class="outline-text-3" id="text-2-4">
|
|
<div class="important">
|
|
<p>
|
|
The joint stiffness has a huge impact on the attainable active damping performance when using force sensors.
|
|
Thus, if Integral Force Feedback is to be used in a Stewart platform with flexible joints, the rotational stiffness of the joints should be minimized.
|
|
</p>
|
|
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org08917d6" class="outline-2">
|
|
<h2 id="org08917d6"><span class="section-number-2">3</span> Direct Velocity Feedback</h2>
|
|
<div class="outline-text-2" id="text-3">
|
|
<p>
|
|
<a id="org0aa816a"></a>
|
|
</p>
|
|
|
|
<div class="note">
|
|
<p>
|
|
The Matlab script corresponding to this section is accessible <a href="../matlab/active_damping_dvf.m">here</a>.
|
|
</p>
|
|
|
|
<p>
|
|
To run the script, open the Simulink Project, and type <code>run active_damping_dvf.m</code>.
|
|
</p>
|
|
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org5364f58" class="outline-3">
|
|
<h3 id="org5364f58"><span class="section-number-3">3.1</span> Identification of the Dynamics with perfect Joints</h3>
|
|
<div class="outline-text-3" id="text-3-1">
|
|
<p>
|
|
We first initialize the Stewart platform without joint stiffness.
|
|
</p>
|
|
<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>, 45e<span class="org-type">-</span>3);
|
|
stewart = generateGeneralConfiguration(stewart);
|
|
stewart = computeJointsPose(stewart);
|
|
stewart = initializeStrutDynamics(stewart);
|
|
stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
|
|
stewart = initializeCylindricalPlatforms(stewart);
|
|
stewart = initializeCylindricalStruts(stewart);
|
|
stewart = computeJacobian(stewart);
|
|
stewart = initializeStewartPose(stewart);
|
|
stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
|
</pre>
|
|
</div>
|
|
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
|
|
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
|
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
And we identify the dynamics from force actuators to force sensors.
|
|
</p>
|
|
<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_platform_model'</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">'/Controller'</span>], 1, <span class="org-string">'openinput'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Actuator Force Inputs [N]</span>
|
|
io(io_i) = linio([mdl, <span class="org-string">'/Stewart Platform'</span>], 1, <span class="org-string">'openoutput'</span>, [], <span class="org-string">'dLm'</span>); io_i = io_i <span class="org-type">+</span> 1; <span class="org-comment">% Relative Displacement Outputs [m]</span>
|
|
|
|
<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">'Dm1'</span>, <span class="org-string">'Dm2'</span>, <span class="org-string">'Dm3'</span>, <span class="org-string">'Dm4'</span>, <span class="org-string">'Dm5'</span>, <span class="org-string">'Dm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
The transfer function from actuator forces to relative motion sensors is shown in Figure <a href="#orgcc86228">8</a>.
|
|
</p>
|
|
|
|
<div id="orgcc86228" class="figure">
|
|
<p><img src="figs/dvf_plant_coupling.png" alt="dvf_plant_coupling.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 8: </span>Transfer function from the Actuator force \(F_{i}\) to the Relative Motion Sensor \(D_{m,j}\) with \(i \neq j\) (<a href="./figs/dvf_plant_coupling.png">png</a>, <a href="./figs/dvf_plant_coupling.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
|
|
<div id="outline-container-org81b6713" class="outline-3">
|
|
<h3 id="org81b6713"><span class="section-number-3">3.2</span> Effect of the Flexible Joint stiffness and Actuator amplification on the Dynamics</h3>
|
|
<div class="outline-text-3" id="text-3-2">
|
|
<p>
|
|
We add some stiffness and damping in the flexible joints and we re-identify the dynamics.
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical'</span>);
|
|
Gf = linearize(mdl, io, options);
|
|
Gf.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>};
|
|
Gf.OutputName = {<span class="org-string">'Dm1'</span>, <span class="org-string">'Dm2'</span>, <span class="org-string">'Dm3'</span>, <span class="org-string">'Dm4'</span>, <span class="org-string">'Dm5'</span>, <span class="org-string">'Dm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
We now use the amplified actuators and re-identify the dynamics
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">stewart = initializeAmplifiedStrutDynamics(stewart);
|
|
Ga = linearize(mdl, io, options);
|
|
Ga.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>};
|
|
Ga.OutputName = {<span class="org-string">'Dm1'</span>, <span class="org-string">'Dm2'</span>, <span class="org-string">'Dm3'</span>, <span class="org-string">'Dm4'</span>, <span class="org-string">'Dm5'</span>, <span class="org-string">'Dm6'</span>};
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
The new dynamics from force actuator to relative motion sensor is shown in Figure <a href="#org5a86447">9</a>.
|
|
</p>
|
|
|
|
<div id="org5a86447" class="figure">
|
|
<p><img src="figs/dvf_plant_flexible_joint_decentralized.png" alt="dvf_plant_flexible_joint_decentralized.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 9: </span>Transfer function from the Actuator force \(F_{i}\) to the relative displacement sensor \(D_{m,i}\) (<a href="./figs/dvf_plant_flexible_joint_decentralized.png">png</a>, <a href="./figs/dvf_plant_flexible_joint_decentralized.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-orge328103" class="outline-3">
|
|
<h3 id="orge328103"><span class="section-number-3">3.3</span> Obtained Damping</h3>
|
|
<div class="outline-text-3" id="text-3-3">
|
|
<p>
|
|
The control is a performed in a decentralized manner.
|
|
The \(6 \times 6\) control is a diagonal matrix with pure derivative action on the diagonal:
|
|
\[ K(s) = g
|
|
\begin{bmatrix}
|
|
s & & \\
|
|
& \ddots & \\
|
|
& & s
|
|
\end{bmatrix} \]
|
|
</p>
|
|
|
|
<p>
|
|
The root locus is shown in figure <a href="#org277d60d">10</a>.
|
|
</p>
|
|
|
|
<div id="org277d60d" class="figure">
|
|
<p><img src="figs/root_locus_dvf_rot_stiffness.png" alt="root_locus_dvf_rot_stiffness.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 10: </span>Root Locus plot with Direct Velocity Feedback when considering the Stiffness of flexible joints (<a href="./figs/root_locus_dvf_rot_stiffness.png">png</a>, <a href="./figs/root_locus_dvf_rot_stiffness.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-org48c963f" class="outline-3">
|
|
<h3 id="org48c963f"><span class="section-number-3">3.4</span> Conclusion</h3>
|
|
<div class="outline-text-3" id="text-3-4">
|
|
<div class="important">
|
|
<p>
|
|
Joint stiffness does increase the resonance frequencies of the system but does not change the attainable damping when using relative motion sensors.
|
|
</p>
|
|
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div id="outline-container-org183f3f2" class="outline-2">
|
|
<h2 id="org183f3f2"><span class="section-number-2">4</span> Compliance and Transmissibility Comparison</h2>
|
|
<div class="outline-text-2" id="text-4">
|
|
</div>
|
|
<div id="outline-container-org0ed1499" class="outline-3">
|
|
<h3 id="org0ed1499"><span class="section-number-3">4.1</span> Initialization</h3>
|
|
<div class="outline-text-3" id="text-4-1">
|
|
<p>
|
|
We first initialize the Stewart platform without joint stiffness.
|
|
</p>
|
|
<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>, 45e<span class="org-type">-</span>3);
|
|
stewart = generateGeneralConfiguration(stewart);
|
|
stewart = computeJointsPose(stewart);
|
|
stewart = initializeStrutDynamics(stewart);
|
|
stewart = initializeJointDynamics(stewart, <span class="org-string">'type_F'</span>, <span class="org-string">'universal_p'</span>, <span class="org-string">'type_M'</span>, <span class="org-string">'spherical_p'</span>);
|
|
stewart = initializeCylindricalPlatforms(stewart);
|
|
stewart = initializeCylindricalStruts(stewart);
|
|
stewart = computeJacobian(stewart);
|
|
stewart = initializeStewartPose(stewart);
|
|
stewart = initializeInertialSensor(stewart, <span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
The rotation point of the ground is located at the origin of frame \(\{A\}\).
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">ground = initializeGround(<span class="org-string">'type'</span>, <span class="org-string">'rigid'</span>, <span class="org-string">'rot_point'</span>, stewart.platform_F.FO_A);
|
|
payload = initializePayload(<span class="org-string">'type'</span>, <span class="org-string">'none'</span>);
|
|
controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
|
|
</pre>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-orgcd64c04" class="outline-3">
|
|
<h3 id="orgcd64c04"><span class="section-number-3">4.2</span> Identification</h3>
|
|
<div class="outline-text-3" id="text-4-2">
|
|
<p>
|
|
Let’s first identify the transmissibility and compliance in the open-loop case.
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'open-loop'</span>);
|
|
[T_ol, T_norm_ol, freqs] = computeTransmissibility();
|
|
[C_ol, C_norm_ol, freqs] = computeCompliance();
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
Now, let’s identify the transmissibility and compliance for the Integral Force Feedback architecture.
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'iff'</span>);
|
|
K_iff = (1e4<span class="org-type">/</span>s)<span class="org-type">*</span>eye(6);
|
|
|
|
[T_iff, T_norm_iff, <span class="org-type">~</span>] = computeTransmissibility();
|
|
[C_iff, C_norm_iff, <span class="org-type">~</span>] = computeCompliance();
|
|
</pre>
|
|
</div>
|
|
|
|
<p>
|
|
And for the Direct Velocity Feedback.
|
|
</p>
|
|
<div class="org-src-container">
|
|
<pre class="src src-matlab">controller = initializeController(<span class="org-string">'type'</span>, <span class="org-string">'dvf'</span>);
|
|
K_dvf = 1e4<span class="org-type">*</span>s<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>5000)<span class="org-type">*</span>eye(6);
|
|
|
|
[T_dvf, T_norm_dvf, <span class="org-type">~</span>] = computeTransmissibility();
|
|
[C_dvf, C_norm_dvf, <span class="org-type">~</span>] = computeCompliance();
|
|
</pre>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div id="outline-container-orgd30c62d" class="outline-3">
|
|
<h3 id="orgd30c62d"><span class="section-number-3">4.3</span> Results</h3>
|
|
<div class="outline-text-3" id="text-4-3">
|
|
|
|
<div id="org6691389" class="figure">
|
|
<p><img src="figs/transmissibility_iff_dvf.png" alt="transmissibility_iff_dvf.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 11: </span>Obtained transmissibility for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (<a href="./figs/transmissibility_iff_dvf.png">png</a>, <a href="./figs/transmissibility_iff_dvf.pdf">pdf</a>)</p>
|
|
</div>
|
|
|
|
|
|
<div id="orgd29218a" class="figure">
|
|
<p><img src="figs/compliance_iff_dvf.png" alt="compliance_iff_dvf.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 12: </span>Obtained compliance for Open-Loop Control (Blue), Integral Force Feedback (Red) and Direct Velocity Feedback (Yellow) (<a href="./figs/compliance_iff_dvf.png">png</a>, <a href="./figs/compliance_iff_dvf.pdf">pdf</a>)</p>
|
|
</div>
|
|
|
|
|
|
<div id="org2ee9711" class="figure">
|
|
<p><img src="figs/frobenius_norm_T_C_iff_dvf.png" alt="frobenius_norm_T_C_iff_dvf.png" />
|
|
</p>
|
|
<p><span class="figure-number">Figure 13: </span>Frobenius norm of the Transmissibility and Compliance Matrices (<a href="./figs/frobenius_norm_T_C_iff_dvf.png">png</a>, <a href="./figs/frobenius_norm_T_C_iff_dvf.pdf">pdf</a>)</p>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
<div id="postamble" class="status">
|
|
<p class="author">Author: Dehaeze Thomas</p>
|
|
<p class="date">Created: 2020-03-02 lun. 17:57</p>
|
|
</div>
|
|
</body>
|
|
</html>
|