39 lines
1.1 KiB
Mathematica
39 lines
1.1 KiB
Mathematica
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%% Script Description
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%%
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clear; close all; clc;
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%%
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K_iff = tf(zeros(6));
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save('./mat/controllers.mat', 'K_iff', '-append');
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%% System - perfectly aligned
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 1, 'density', 0.1));
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initializeSample(struct('mass', 50, 'height', 1, 'measheight', 1, 'offset', [0, 0, -25.5]));
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% Identification
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G_center = identifyPlant();
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%% System - Jacobian is too high
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 160));
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initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150));
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% Identification
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G_Jac_offset = identifyPlant();
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%% System - CoM is too low
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
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initializeSample(struct('mass', 50, 'height', 280, 'measheight', 150));
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% Identification
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G_CoM_offset = identifyPlant();
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%% System - Meas point is too high
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initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
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initializeSample(struct('mass', 50, 'height', 300, 'measheight', 160));
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% Identification
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G_Meas_offset = identifyPlant();
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%% Save
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save('./mat/G_jacobian.mat', 'G_center', 'G_Jac_offset', 'G_CoM_offset', 'G_Meas_offset');
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