Update beam height (remove 25mm to match the experiments)
This commit is contained in:
@@ -1,107 +1,108 @@
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function [micro_hexapod] = initializeMicroHexapod(args)
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function [micro_hexapod] = initializeMicroHexapod(args)
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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% initializeFramesPositions
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args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
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args.MO_B (1,1) double {mustBeNumeric} = 270e-3
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% generateGeneralConfiguration
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args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
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args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
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args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
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args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
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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.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
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args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
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% initializeCylindricalPlatforms
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
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% initializeCylindricalStruts
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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% inverseKinematics
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args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
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args.ARB (3,3) double {mustBeNumeric} = eye(3)
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end
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, ...
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'H', args.H, ...
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'MO_B', args.MO_B);
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stewart = generateGeneralConfiguration(stewart, ...
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'FH', args.FH, ...
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'FR', args.FR, ...
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'FTh', args.FTh, ...
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'MH', args.MH, ...
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'MR', args.MR, ...
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'MTh', args.MTh);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, ...
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'K', args.Ki, ...
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'C', args.Ci);
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stewart = initializeJointDynamics(stewart, ...
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'type_F', 'universal_p', ...
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'type_M', 'spherical_p');
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stewart = initializeCylindricalPlatforms(stewart, ...
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'Fpm', args.Fpm, ...
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'Fph', args.Fph, ...
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'Fpr', args.Fpr, ...
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'Mpm', args.Mpm, ...
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'Mph', args.Mph, ...
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'Mpr', args.Mpr);
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stewart = initializeCylindricalStruts(stewart, ...
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'Fsm', args.Fsm, ...
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'Fsh', args.Fsh, ...
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'Fsr', args.Fsr, ...
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'Msm', args.Msm, ...
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'Msh', args.Msh, ...
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'Msr', args.Msr);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart, ...
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'AP', args.AP, ...
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'ARB', args.ARB);
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stewart = initializeInertialSensor(stewart, 'type', 'none');
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switch args.type
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case 'none'
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stewart.type = 0;
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case 'rigid'
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stewart.type = 1;
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case 'flexible'
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stewart.type = 2;
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end
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micro_hexapod = stewart;
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('mat/nass_model_stages.mat', 'micro_hexapod');
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arguments
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args.type char {mustBeMember(args.type,{'none', 'rigid', 'flexible'})} = 'flexible'
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% initializeFramesPositions
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args.H (1,1) double {mustBeNumeric, mustBePositive} = 350e-3
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args.MO_B (1,1) double {mustBeNumeric} = 270e-3
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% generateGeneralConfiguration
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args.FH (1,1) double {mustBeNumeric, mustBePositive} = 50e-3
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args.FR (1,1) double {mustBeNumeric, mustBePositive} = 175.5e-3
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args.FTh (6,1) double {mustBeNumeric} = [-10, 10, 120-10, 120+10, 240-10, 240+10]*(pi/180)
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args.MH (1,1) double {mustBeNumeric, mustBePositive} = 45e-3
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args.MR (1,1) double {mustBeNumeric, mustBePositive} = 118e-3
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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.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e7*ones(6,1)
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args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1.4e3*ones(6,1)
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% initializeCylindricalPlatforms
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args.Fpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Fph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Fpr (1,1) double {mustBeNumeric, mustBePositive} = 207.5e-3
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args.Mpm (1,1) double {mustBeNumeric, mustBePositive} = 10
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args.Mph (1,1) double {mustBeNumeric, mustBePositive} = 26e-3
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args.Mpr (1,1) double {mustBeNumeric, mustBePositive} = 150e-3
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% initializeCylindricalStruts
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args.Fsm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Fsh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Fsr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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args.Msm (1,1) double {mustBeNumeric, mustBePositive} = 1
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args.Msh (1,1) double {mustBeNumeric, mustBePositive} = 100e-3
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args.Msr (1,1) double {mustBeNumeric, mustBePositive} = 25e-3
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% inverseKinematics
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args.AP (3,1) double {mustBeNumeric} = zeros(3,1)
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args.ARB (3,3) double {mustBeNumeric} = eye(3)
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
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stewart = initializeStewartPlatform();
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stewart = initializeFramesPositions(stewart, ...
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'H', args.H, ...
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'MO_B', args.MO_B);
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stewart = generateGeneralConfiguration(stewart, ...
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'FH', args.FH, ...
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'FR', args.FR, ...
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'FTh', args.FTh, ...
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'MH', args.MH, ...
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'MR', args.MR, ...
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'MTh', args.MTh);
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stewart = computeJointsPose(stewart);
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stewart = initializeStrutDynamics(stewart, ...
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'K', args.Ki, ...
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'C', args.Ci);
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stewart = initializeJointDynamics(stewart, ...
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'type_F', 'universal_p', ...
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'type_M', 'spherical_p');
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stewart = initializeCylindricalPlatforms(stewart, ...
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'Fpm', args.Fpm, ...
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'Fph', args.Fph, ...
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'Fpr', args.Fpr, ...
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'Mpm', args.Mpm, ...
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'Mph', args.Mph, ...
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'Mpr', args.Mpr);
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stewart = initializeCylindricalStruts(stewart, ...
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'Fsm', args.Fsm, ...
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'Fsh', args.Fsh, ...
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'Fsr', args.Fsr, ...
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'Msm', args.Msm, ...
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'Msh', args.Msh, ...
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'Msr', args.Msr);
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stewart = computeJacobian(stewart);
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stewart = initializeStewartPose(stewart, ...
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'AP', args.AP, ...
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'ARB', args.ARB);
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stewart = initializeInertialSensor(stewart, 'type', 'none');
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switch args.type
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case 'none'
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stewart.type = 0;
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case 'rigid'
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stewart.type = 1;
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case 'flexible'
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stewart.type = 2;
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end
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micro_hexapod = stewart;
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if exist('./mat', 'dir')
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if exist('./mat/nass_model_stages.mat', 'file')
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save('mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('mat/nass_model_stages.mat', 'micro_hexapod');
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end
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elseif exist('./matlab', 'dir')
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if exist('./matlab/mat/nass_model_stages.mat', 'file')
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod', '-append');
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else
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save('matlab/mat/nass_model_stages.mat', 'micro_hexapod');
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end
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end
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end
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