Add custom stiffness and damping to the n-hexapod
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mat/optimal_stiffness_Gk_wz.mat
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mat/optimal_stiffness_Gk_wz.mat
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mat/optimal_stiffness_Gm_Gf.mat
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mat/optimal_stiffness_Gm_Gf.mat
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@ -1242,6 +1242,8 @@ The =mirror= structure is saved.
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args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
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% initializeStrutDynamics
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args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
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args.k (1,1) double {mustBeNumeric} = -1
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args.c (1,1) double {mustBeNumeric} = -1
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% initializeCylindricalPlatforms
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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@ -1274,13 +1276,23 @@ The =mirror= structure is saved.
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nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
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nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
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nano_hexapod = computeJointsPose(nano_hexapod);
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if strcmp(args.actuator, 'piezo')
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#+end_src
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#+begin_src matlab
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if args.k > 0 && args.c > 0
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', args.c*ones(6,1));
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elseif args.k > 0
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', 1.5*sqrt(args.k)*ones(6,1));
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elseif strcmp(args.actuator, 'piezo')
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1));
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elseif strcmp(args.actuator, 'lorentz')
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1));
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else
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error('args.actuator should be piezo or lorentz');
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end
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#+end_src
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#+begin_src matlab
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nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
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nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
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nano_hexapod = computeJacobian(nano_hexapod);
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@ -1494,7 +1506,7 @@ The =sample= structure is saved.
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:END:
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#+begin_src matlab
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arguments
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args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff'})} = 'open-loop'
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args.type char {mustBeMember(args.type,{'open-loop', 'iff', 'dvf', 'hac-dvf', 'ref-track-L', 'ref-track-iff-L', 'cascade-hac-lac', 'hac-iff', 'stabilizing'})} = 'open-loop'
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end
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#+end_src
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@ -1529,6 +1541,8 @@ First, we initialize the =controller= structure.
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controller.type = 7;
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case 'hac-iff'
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controller.type = 8;
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case 'stabilizing'
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controller.type = 9;
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end
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#+end_src
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@ -14,6 +14,8 @@ arguments
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args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
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% initializeStrutDynamics
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args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
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args.k (1,1) double {mustBeNumeric} = -1
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args.c (1,1) double {mustBeNumeric} = -1
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% initializeCylindricalPlatforms
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
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@ -40,13 +42,19 @@ end
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nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
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nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
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nano_hexapod = computeJointsPose(nano_hexapod);
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if strcmp(args.actuator, 'piezo')
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if args.k > 0 && args.c > 0
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', args.c*ones(6,1));
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elseif args.k > 0
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', args.k*ones(6,1), 'Ci', 1.5*sqrt(args.k)*ones(6,1));
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elseif strcmp(args.actuator, 'piezo')
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1));
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elseif strcmp(args.actuator, 'lorentz')
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nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1));
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else
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error('args.actuator should be piezo or lorentz');
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end
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nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
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nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
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nano_hexapod = computeJacobian(nano_hexapod);
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