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Remove jacobian computation section

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Thomas Dehaeze
2020-11-06 15:06:25 +01:00
parent 9b6094679b
commit 3b14dd83d8
2 changed files with 134 additions and 124 deletions
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@@ -727,15 +727,15 @@ The analysis of the SVD control applied to the Stewart platform is performed in
** Jacobian :noexport:
First, the position of the "joints" (points of force application) are estimated and the Jacobian computed.
#+begin_src matlab
#+begin_src matlab :tangle no
open('drone_platform_jacobian.slx');
#+end_src
#+begin_src matlab
#+begin_src matlab :tangle no
sim('drone_platform_jacobian');
#+end_src
#+begin_src matlab
#+begin_src matlab :tangle no
Aa = [a1.Data(1,:);
a2.Data(1,:);
a3.Data(1,:);
@@ -804,7 +804,7 @@ The dynamics is identified from forces applied by each legs to the measured acce
%% Input/Output definition
clear io; io_i = 1;
io(io_i) = linio([mdl, '/Dw'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/u'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/V-T'], 1, 'openinput'); io_i = io_i + 1;
io(io_i) = linio([mdl, '/Inertial Sensor'], 1, 'openoutput'); io_i = io_i + 1;
G = linearize(mdl, io);