tdehaeze/phd-simscape-nano-hexapod
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Compare analytical and multi-body models

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Thomas Dehaeze
2025-02-10 19:38:32 +01:00
parent fca54e3d88
commit 95b9b460f7
10 changed files with 4544 additions and 135 deletions
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matlab/src/initializeSimplifiedNanoHexapod.m
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@@ -14,7 +14,7 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
%% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'1dof', '2dof', 'flexible'})} = '1dof'
args.actuator_k (1,1) double {mustBeNumeric, mustBePositive} = 1e6
args.actuator_kp (1,1) double {mustBeNumeric, mustBeNonnegative} = 5e4
args.actuator_kp (1,1) double {mustBeNumeric, mustBeNonnegative} = 1e4
args.actuator_ke (1,1) double {mustBeNumeric, mustBePositive} = 4952605
args.actuator_ka (1,1) double {mustBeNumeric, mustBePositive} = 2476302
args.actuator_c (1,1) double {mustBeNumeric, mustBePositive} = 50