50 lines
1.7 KiB
Matlab
50 lines
1.7 KiB
Matlab
function [stewart] = initializeStrutDynamics(stewart, args)
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% initializeStrutDynamics - Add Stiffness and Damping properties of each strut
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%
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% Syntax: [stewart] = initializeStrutDynamics(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - K [6x1] - Stiffness of each strut [N/m]
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% - C [6x1] - Damping of each strut [N/(m/s)]
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%
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% Outputs:
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% - stewart - updated Stewart structure with the added fields:
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% - actuators.type = 1
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% - actuators.K [6x1] - Stiffness of each strut [N/m]
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% - actuators.C [6x1] - Damping of each strut [N/(m/s)]
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arguments
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stewart
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args.type char {mustBeMember(args.type,{'classical', 'amplified'})} = 'classical'
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args.K (6,1) double {mustBeNumeric, mustBeNonnegative} = 20e6*ones(6,1)
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args.C (6,1) double {mustBeNumeric, mustBeNonnegative} = 2e1*ones(6,1)
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args.k1 (6,1) double {mustBeNumeric} = 1e6*ones(6,1)
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args.ke (6,1) double {mustBeNumeric} = 5e6*ones(6,1)
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args.ka (6,1) double {mustBeNumeric} = 60e6*ones(6,1)
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args.c1 (6,1) double {mustBeNumeric} = 10*ones(6,1)
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args.F_gain (6,1) double {mustBeNumeric} = 1*ones(6,1)
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args.me (6,1) double {mustBeNumeric} = 0.01*ones(6,1)
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args.ma (6,1) double {mustBeNumeric} = 0.01*ones(6,1)
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end
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if strcmp(args.type, 'classical')
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stewart.actuators.type = 1;
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elseif strcmp(args.type, 'amplified')
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stewart.actuators.type = 2;
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end
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stewart.actuators.K = args.K;
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stewart.actuators.C = args.C;
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stewart.actuators.k1 = args.k1;
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stewart.actuators.c1 = args.c1;
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stewart.actuators.ka = args.ka;
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stewart.actuators.ke = args.ke;
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stewart.actuators.F_gain = args.F_gain;
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stewart.actuators.ma = args.ma;
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stewart.actuators.me = args.me;
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