Update Stewart Platform functions

org/stewart_platform.org

@@ -1051,9 +1051,9 @@ This Matlab function is accessible [[file:../src/initializeJointDynamics.m][here
     case 'spherical'
       stewart.joints_F.type = 2;
     case 'universal_p'
-      stewart.joints_F.type = 3;
+      stewart.joints_F.type = 1;
     case 'spherical_p'
-      stewart.joints_F.type = 4;
+      stewart.joints_F.type = 2;
     case 'universal_3dof'
       stewart.joints_F.type = 5;
   end
@@ -1064,38 +1064,56 @@ This Matlab function is accessible [[file:../src/initializeJointDynamics.m][here
     case 'spherical'
       stewart.joints_M.type = 2;
     case 'universal_p'
-      stewart.joints_M.type = 3;
+      stewart.joints_M.type = 1;
     case 'spherical_p'
-      stewart.joints_M.type = 4;
+      stewart.joints_M.type = 2;
     case 'spherical_3dof'
       stewart.joints_M.type = 6;
   end
 #+end_src
 
+** Initialize Stiffness
+#+begin_src matlab
+  stewart.joints_M.Kx = zeros(6,1);
+  stewart.joints_M.Ky = zeros(6,1);
+  stewart.joints_M.Kz = zeros(6,1);
+  stewart.joints_F.Kx = zeros(6,1);
+  stewart.joints_F.Ky = zeros(6,1);
+  stewart.joints_F.Kz = zeros(6,1);
+
+  stewart.joints_M.Kf = zeros(6,1);
+  stewart.joints_M.Kt = zeros(6,1);
+  stewart.joints_F.Kf = zeros(6,1);
+  stewart.joints_F.Kt = zeros(6,1);
+
+  stewart.joints_M.Cx = zeros(6,1);
+  stewart.joints_M.Cy = zeros(6,1);
+  stewart.joints_M.Cz = zeros(6,1);
+  stewart.joints_F.Cx = zeros(6,1);
+  stewart.joints_F.Cy = zeros(6,1);
+  stewart.joints_F.Cz = zeros(6,1);
+
+  stewart.joints_M.Cf = zeros(6,1);
+  stewart.joints_M.Ct = zeros(6,1);
+  stewart.joints_F.Cf = zeros(6,1);
+  stewart.joints_F.Ct = zeros(6,1);
+#+end_src
+
 ** Add Stiffness and Damping in Translation of each strut
 :PROPERTIES:
 :UNNUMBERED: t
 :END:
 Translation Stiffness
 #+begin_src matlab
-  stewart.joints_M.Kx = zeros(6,1);
+  if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
-  stewart.joints_M.Ky = zeros(6,1);
       stewart.joints_M.Kz = args.Kz_M;
-
-  stewart.joints_F.Kx = zeros(6,1);
-  stewart.joints_F.Ky = zeros(6,1);
-  stewart.joints_F.Kz = args.Kz_F;
-#+end_src
-
-Translation Damping
-#+begin_src matlab
-  stewart.joints_M.Cx = zeros(6,1);
-  stewart.joints_M.Cy = zeros(6,1);
       stewart.joints_M.Cz = args.Cz_M;
+  end
 
-  stewart.joints_F.Cx = zeros(6,1);
+  if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
-  stewart.joints_F.Cy = zeros(6,1);
+      stewart.joints_F.Kz = args.Kz_F;
       stewart.joints_F.Cz = args.Cz_F;
+  end
 #+end_src
 
 ** Add Stiffness and Damping in Rotation of each strut
@@ -1104,21 +1122,21 @@ Translation Damping
 :END:
 Rotational Stiffness
 #+begin_src matlab
+  if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
       stewart.joints_M.Kf = args.Kf_M;
-  stewart.joints_M.Kt = args.Kf_M;
-
-  stewart.joints_F.Kf = args.Kf_F;
-  stewart.joints_F.Kt = args.Kf_F;
-#+end_src
-
-
-Rotational Damping
-#+begin_src matlab
       stewart.joints_M.Cf = args.Cf_M;
-  stewart.joints_M.Ct = args.Cf_M;
 
+      stewart.joints_M.Kt = args.Kt_M;
+      stewart.joints_M.Ct = args.Ct_M;
+  end
+
+  if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
+      stewart.joints_F.Kf = args.Kf_F;
       stewart.joints_F.Cf = args.Cf_F;
-  stewart.joints_F.Ct = args.Cf_F;
+
+      stewart.joints_F.Kt = args.Kt_F;
+      stewart.joints_F.Ct = args.Ct_F;
+  end
 #+end_src
 
 * =initializeInertialSensor=: Initialize the inertial sensor in each strut

src/describeStewartPlatform.m

@@ -46,10 +46,6 @@ switch stewart.joints_F.type
     fprintf('- The joints on the fixed based are universal joints\n')
   case 2
     fprintf('- The joints on the fixed based are spherical joints\n')
-  case 3
-    fprintf('- The joints on the fixed based are perfect universal joints\n')
-  case 4
-    fprintf('- The joints on the fixed based are perfect spherical joints\n')
 end
 
 switch stewart.joints_M.type
@@ -57,10 +53,6 @@ switch stewart.joints_M.type
     fprintf('- The joints on the mobile based are universal joints\n')
   case 2
     fprintf('- The joints on the mobile based are spherical joints\n')
-  case 3
-    fprintf('- The joints on the mobile based are perfect universal joints\n')
-  case 4
-    fprintf('- The joints on the mobile based are perfect spherical joints\n')
 end
 
 fprintf('- The position of the joints on the fixed based with respect to {F} are (in [mm]):\n')

src/initializeJointDynamics.m

@@ -55,9 +55,9 @@ switch args.type_F
   case 'spherical'
     stewart.joints_F.type = 2;
   case 'universal_p'
-    stewart.joints_F.type = 3;
+    stewart.joints_F.type = 1;
   case 'spherical_p'
-    stewart.joints_F.type = 4;
+    stewart.joints_F.type = 2;
   case 'universal_3dof'
     stewart.joints_F.type = 5;
 end
@@ -68,37 +68,59 @@ switch args.type_M
   case 'spherical'
     stewart.joints_M.type = 2;
   case 'universal_p'
-    stewart.joints_M.type = 3;
+    stewart.joints_M.type = 1;
   case 'spherical_p'
-    stewart.joints_M.type = 4;
+    stewart.joints_M.type = 2;
   case 'spherical_3dof'
     stewart.joints_M.type = 6;
 end
 
 stewart.joints_M.Kx = zeros(6,1);
 stewart.joints_M.Ky = zeros(6,1);
-stewart.joints_M.Kz = args.Kz_M;
+stewart.joints_M.Kz = zeros(6,1);
-
 stewart.joints_F.Kx = zeros(6,1);
 stewart.joints_F.Ky = zeros(6,1);
-stewart.joints_F.Kz = args.Kz_F;
+stewart.joints_F.Kz = zeros(6,1);
+
+stewart.joints_M.Kf = zeros(6,1);
+stewart.joints_M.Kt = zeros(6,1);
+stewart.joints_F.Kf = zeros(6,1);
+stewart.joints_F.Kt = zeros(6,1);
 
 stewart.joints_M.Cx = zeros(6,1);
 stewart.joints_M.Cy = zeros(6,1);
-stewart.joints_M.Cz = args.Cz_M;
+stewart.joints_M.Cz = zeros(6,1);
-
 stewart.joints_F.Cx = zeros(6,1);
 stewart.joints_F.Cy = zeros(6,1);
+stewart.joints_F.Cz = zeros(6,1);
+
+stewart.joints_M.Cf = zeros(6,1);
+stewart.joints_M.Ct = zeros(6,1);
+stewart.joints_F.Cf = zeros(6,1);
+stewart.joints_F.Ct = zeros(6,1);
+
+if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
+    stewart.joints_M.Kz = args.Kz_M;
+    stewart.joints_M.Cz = args.Cz_M;
+end
+
+if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
+    stewart.joints_F.Kz = args.Kz_F;
     stewart.joints_F.Cz = args.Cz_F;
+end
 
+if ~strcmp(args.type_M, 'universal_p') || ~strcmp(args.type_M, 'spherical_p')
     stewart.joints_M.Kf = args.Kf_M;
-stewart.joints_M.Kt = args.Kf_M;
-
-stewart.joints_F.Kf = args.Kf_F;
-stewart.joints_F.Kt = args.Kf_F;
-
     stewart.joints_M.Cf = args.Cf_M;
-stewart.joints_M.Ct = args.Cf_M;
 
+    stewart.joints_M.Kt = args.Kt_M;
+    stewart.joints_M.Ct = args.Ct_M;
+end
+
+if ~strcmp(args.type_F, 'universal_p') || ~strcmp(args.type_F, 'spherical_p')
+    stewart.joints_F.Kf = args.Kf_F;
     stewart.joints_F.Cf = args.Cf_F;
-stewart.joints_F.Ct = args.Cf_F;
+
+    stewart.joints_F.Kt = args.Kt_F;
+    stewart.joints_F.Ct = args.Ct_F;
+end