nass-simscape/src/initializeNanoHexapod.m

76 lines
3.6 KiB
Matlab

function [nano_hexapod] = initializeNanoHexapod(args)
arguments
args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible', 'init'})} = 'flexible'
% initializeFramesPositions
args.H (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
args.MO_B (1,1) double {mustBeNumeric} = 175e-3
% generateGeneralConfiguration
args.FH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
args.FR (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
args.MH (1,1) double {mustBeNumeric, mustBePositive} = 15e-3
args.MR (1,1) double {mustBeNumeric, mustBePositive} = 90e-3
args.MTh (6,1) double {mustBeNumeric} = [-60+10, 60-10, 60+10, 180-10, 180+10, -60-10]*(pi/180)
% initializeStrutDynamics
args.actuator char {mustBeMember(args.actuator,{'piezo', 'lorentz'})} = 'piezo'
% initializeCylindricalPlatforms
args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 1
args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 1
args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 10e-3
args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
% initializeCylindricalStruts
args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 0.1
args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 5e-3
% inverseKinematics
args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
args.ARB (3,3) double {mustBeNumeric} = eye(3)
% Equilibrium position of each leg
args.dLeq (6,1) double {mustBeNumeric} = zeros(6,1)
% Force that stiffness of each joint should apply at t=0
args.Foffset logical {mustBeNumericOrLogical} = false
end
nano_hexapod = initializeFramesPositions('H', args.H, 'MO_B', args.MO_B);
nano_hexapod = generateGeneralConfiguration(nano_hexapod, 'FH', args.FH, 'FR', args.FR, 'FTh', args.FTh, 'MH', args.MH, 'MR', args.MR, 'MTh', args.MTh);
nano_hexapod = computeJointsPose(nano_hexapod);
if strcmp(args.actuator, 'piezo')
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e7*ones(6,1), 'Ci', 1e2*ones(6,1));
elseif strcmp(args.actuator, 'lorentz')
nano_hexapod = initializeStrutDynamics(nano_hexapod, 'Ki', 1e4*ones(6,1), 'Ci', 1e2*ones(6,1));
else
error('args.actuator should be piezo or lorentz');
end
nano_hexapod = initializeCylindricalPlatforms(nano_hexapod, 'Fpm', args.Fpm, 'Fph', args.Fph, 'Fpr', args.Fpr, 'Mpm', args.Mpm, 'Mph', args.Mph, 'Mpr', args.Mpr);
nano_hexapod = initializeCylindricalStruts(nano_hexapod, 'Fsm', args.Fsm, 'Fsh', args.Fsh, 'Fsr', args.Fsr, 'Msm', args.Msm, 'Msh', args.Msh, 'Msr', args.Msr);
nano_hexapod = computeJacobian(nano_hexapod);
[Li, dLi] = inverseKinematics(nano_hexapod, 'AP', args.AP, 'ARB', args.ARB);
nano_hexapod.Li = Li;
nano_hexapod.dLi = dLi;
if args.Foffset && ~strcmp(args.type, 'none') && ~strcmp(args.type, 'rigid') && ~strcmp(args.type, 'init')
load('mat/Foffset.mat', 'Fnm');
nano_hexapod.dLeq = -Fnm'./nano_hexapod.Ki;
else
nano_hexapod.dLeq = args.dLeq;
end
switch args.type
case 'none'
nano_hexapod.type = 0;
case 'rigid'
nano_hexapod.type = 1;
case 'flexible'
nano_hexapod.type = 2;
case 'init'
nano_hexapod.type = 4;
end
save('./mat/stages.mat', 'nano_hexapod', '-append');