tdehaeze/phd-simscape-nano-hexapod
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Add figures to explain the multi-body model

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Thomas Dehaeze
2025-02-10 17:35:49 +01:00
parent 8153a9d87b
commit fca54e3d88
18 changed files with 7412 additions and 2502 deletions
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matlab/nano_hexapod_model.slx
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matlab/src/initializeSimplifiedNanoHexapod.m
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@@ -13,11 +13,11 @@ function [nano_hexapod] = initializeSimplifiedNanoHexapod(args)
args.MTh (6,1) double {mustBeNumeric} = [255, 285, 15, 45, 135, 165]*(pi/180) % Angles of fixed joints [rad]
%% Actuators
args.actuator_type char {mustBeMember(args.actuator_type,{'1dof', '2dof', 'flexible'})} = '1dof'
args.actuator_k (1,1) double {mustBeNumeric, mustBePositive} = 380000
args.actuator_kp (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
args.actuator_k (1,1) double {mustBeNumeric, mustBePositive} = 1e6
args.actuator_kp (1,1) double {mustBeNumeric, mustBeNonnegative} = 5e4
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} = 5
args.actuator_c (1,1) double {mustBeNumeric, mustBePositive} = 50
args.actuator_cp (1,1) double {mustBeNumeric, mustBeNonnegative} = 0
args.actuator_ce (1,1) double {mustBeNumeric, mustBePositive} = 100
args.actuator_ca (1,1) double {mustBeNumeric, mustBePositive} = 50