27 lines
613 B
Mathematica
27 lines
613 B
Mathematica
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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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%% Initialize System
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hexapod = initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
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initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150));
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%% Identify transfer functions
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G = identifyPlant();
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%% Run to obtain the computed Jacobian
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sim stewart_identification
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%% Compare the two Jacobian matrices
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J_rel = (J.data(:, :, 1)-hexapod.J)./hexapod.J;
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%% Compute the Stiffness Matrix
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K = hexapod.Leg.k.ax*hexapod.J'*hexapod.J;
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K_id = pinv(freqresp(G.G_cart, 0));
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K_rel = (K-K_id)./K;
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