22 lines
646 B
Matlab
22 lines
646 B
Matlab
function [stewart] = computeJacobian(stewart)
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% computeJacobian -
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%
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% Syntax: [stewart] = computeJacobian(stewart)
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%
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% Inputs:
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% - stewart - With at least the following fields:
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% - As [3x6] - The 6 unit vectors for each strut expressed in {A}
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% - Ab [3x6] - The 6 position of the joints bi expressed in {A}
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%
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% Outputs:
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% - stewart - With the 3 added field:
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% - J [6x6] - The Jacobian Matrix
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% - K [6x6] - The Stiffness Matrix
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% - C [6x6] - The Compliance Matrix
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stewart.J = [stewart.As' , cross(stewart.Ab, stewart.As)'];
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stewart.K = stewart.J'*diag(stewart.Ki)*stewart.J;
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stewart.C = inv(stewart.K);
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