From 053329875bc2710d51ff04eec77bc7fdcab6aebf Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 6 Feb 2020 11:16:39 +0100 Subject: [PATCH] Add stiffness to universal and spherical joints --- simscape_subsystems/stewart_strut.slx | Bin 31013 -> 31456 bytes stewart-architecture.org | 51 ++++++++++++++++++-------- 2 files changed, 35 insertions(+), 16 deletions(-) diff --git a/simscape_subsystems/stewart_strut.slx b/simscape_subsystems/stewart_strut.slx index b394b13e1b24b4a0a4e11bb8a8ce7daea8ecfb5a..26727d00d99060178a179a2780f1834b01297ed9 100644 GIT binary patch delta 12418 zcmZ9y1ymi&wl$0e3$DQ-xVu|$cXti$?u|=uHcoJN2<{=cySqzp4gPa-{_nkaZ;jEt zs;cMgwW`+W+BJ5~!YlC2TW~~08AvD$FfcG!uw_m0T10dR$ah;u3K0tq`(9C8M2&3$ zwL($@Bl0~=D9=fQ_q}e?keZe>;Kvctu;0F{>Y8VW_qv(3#Xj?o=jVRu8_U9(7_Z{Y zB>IYZ(!Ho$j+2Kf1WuKEt&GWf)2bcJNmUb5{#`@68-d+WiD^Pvi8U9I4@WP^k$mwd z9`%SQzlhF(RcI}yPTZ=velB0jl(^GDbH`pC!c+eS(( zqh7gD>9P{smlvPrAmI#(y0!+}3dpo=XD)(aR->OLo|}<10?!ei8LNU7SX7a49f+3r zK)@3ztk6SBZkcFtO3BmCywOAn!&=XhWC3~mfhE~uAccCEVrP6Gw%WOA_7G#|CM2#e zlQ@+x)#H(W{D9ougt!~q^eY??@ND>D?(S4QGJ(Ki2!58&bcqHO7DqT52M~n8E~NI| z!&%kC)`p-*F47*`UqD{Iveh0+Sjba}j(AO6W zO)K-JjgFBquBU4YNcqgxwM~*RDksBzCMR}28H_ru?{toFD!YOik(&UE1uIPVt0s`b zCJdiakZi2e-nh7HTi>idw4nF69`i2r^=J46d|Q38HDUr!r@Yvo9{5(V1}*2zIj-kp z&y=t0qy}F_$dmiEc_k*faAQ}EQP57iEe=DG4vKyp-(xuU&zcvB`2KJi(bV5!9 z*xG;QMtkk-%9|sScP}3yA!?FX={=f-vghPeZ3moiKK%fhP zZ?8qK;Iu0<^Mm>Xn}55q@KJq-wgcWpw|QYQf3jBK_psoo#6||JQ3*&5E3MCe=XC9cE(c=Vf7{LEy11J zx=tu3O;>Dl)V>ZX3UbN6a)J9l-zp|$p{Ml1JfVy(FmM(cPM~}IAaEx4xC0#ef>U$3 zKjZma=3z%GTtwSKLzZ1p4%#2T1lx*-rxykKcZv!yvTvHR4*nvUYu!W3>%F9Sd*12# zoi%?{WmO5zn!zU3PrN_4<}YM*dWpXMQgzcSgH3 zKoeH0V1G`sVB;FkGStg@HU!8ya!0EaByb5MbP^7AFc9v4BbOH|VyX(xoL`QcCl$BK zQAqeLK|#Zrp_;DxW1f)c3=A)V*}H-h#HEo(al6A`<3rWw{NizHw(nO~?qto4Uf3I) za<=7Sf<~e07}7W|{f8O9GCPbsB*aqMa>hlxi5IA~w+RC`&1z7_BYSt4VZ{iRJmx{By^L+vEPjxRnbU08w;Ju`O{i<( z`PA|#qbTEa2M+Ua?}*)UZ$z0(Kw?C(^`qhh`D1i`IU%yYcN((4m9_#^VGoHhZFD<# zqG;rYtjIXJgJ0~}m)}cGj(49Mm?u-n(VqPQhSBqKnRFBeBPCcB_;AVzYgDymd7?e~elaW>oG1@w*w zpO+aw*(aFIN+Vb=?m1)E7=2+{?lJ5--;)^IqPV4At#v#E-<^eeoqJ5Wj<_D+U%9&|n23ni+=(DioLLGr%$H2=AV5 zWF=M&R3hfqTSIS2($m2y>!qY9N09!<&Ss)#FWyBMtVDAi68;DNK0uf3iE!1TJqnKkKthj@-v$VXs;kBYY7x0ffE z7>oOF+KjSP4E(NJsHB0{J#hW_RNmzA%5wch6P2;eqi|x>_7K)IPo7j9B{$FTu;Ej zaNhTI&X%^WHkNkQjGzsA5{wh=Y@5S5dO=xrO|=_$;3d_waOZo&AjzsS}T^@zTjMsp&L`l z+x4Hmsl|pk->p$ydn4#C+TIyv+s1aiM%fIS!sq0a96jOC=3FM!}2Zj>;1~UY<6~Z-zUQ+p(n*%AY*wb7_n`r2n2@-yd z)nBa7p-&tFexke_8hv}&cic0vz_9u~NmCqa@i>KyeYp{APg`ihnc#gRGY|ssc2}O#pj5@b*$k@GQCfyyAJ0AO0cg6E*AF zdWX!P@Bujp=h_M)_l(N!oQ<=4u3KVW!o&oxs2({v?D1KVkGoKUH{NO5vABVEJYKd& z7ASV4@?RM6P*D~1R&Jf-C&=)*WAG+P5*2(Si1=o70sz1#*yyWe#-xxsTc;-7qr2gK zZyMCCVBj@mACBbapI^gpN727O43&@;1%tzmx>}CsdRM|_@fP`73J_;ZBr)*LGaOaN zN6Tf$xWsg9&q=lhv+Y_>L~5_bD|NE+hq+|KpAJ3-`*PmtTHfJUZ}&k1D(qW`WoDgLWXT` zy30>kr3?;(Act}pLfHVqXnr=nj)C3+N|4RAT^t)gLRiT;IbDkg_p|XL>LHKa?sY3B z8j?7c@fgBPL9?TTBX_D}IB1S3?{AKV?@0&Qw%vL5jb0vu&_6U4% zEejPOe`|sPF9Ft_TT3ycsJ*$prI}3C(dgEM^_S2I9BE#*;(g8|>P9sY%$bu=krKF! 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zB6z=DwEvYm*81;*p0+sPXwQHBGd&3)8EyWWzj+e;&2sc+YX8@S=Y>!54>0ta40C#K zq2k{z=Kl&Q0XFo+0-Jf!|4se(9Do9W{18E)H~!7v@$V`wZNYV3^stwX|JeQ)FbcS& diff --git a/stewart-architecture.org b/stewart-architecture.org index 2bf5fc5..a940ac2 100644 --- a/stewart-architecture.org +++ b/stewart-architecture.org @@ -849,17 +849,22 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]]. % % Inputs: % - args - Structure with the following fields: - % - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad] - % - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)] - % - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad] - % - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)] + % - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad] + % - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)] + % - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad] + % - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)] + % - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad] + % - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)] + % - disable [true/false] - Sets all the stiffness/damping to zero % % Outputs: % - stewart - updated Stewart structure with the added fields: - % - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad] - % - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)] - % - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad] - % - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)] + % - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad] + % - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)] + % - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad] + % - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)] + % - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad] + % - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)] #+end_src *** Optional Parameters @@ -869,10 +874,13 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]]. #+begin_src matlab arguments stewart - args.Kti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1) - args.Cti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1) - args.Kbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1) - args.Cbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1) + args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-1*ones(6,1) + args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) + args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-2*ones(6,1) + args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) + args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-1*ones(6,1) + args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) + args.disable logical {mustBeNumericOrLogical} = false end #+end_src @@ -881,10 +889,21 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]]. :UNNUMBERED: t :END: #+begin_src matlab - stewart.Kti = args.Kti; - stewart.Cti = args.Cti; - stewart.Kbi = args.Kbi; - stewart.Cbi = args.Cbi; + if args.disable + stewart.Ksbi = 0; + stewart.Csbi = 0; + stewart.Ksti = 0; + stewart.Csti = 0; + stewart.Kubi = 0; + stewart.Cubi = 0; + else + stewart.Ksbi = args.Ksbi; + stewart.Csbi = args.Csbi; + stewart.Ksti = args.Ksti; + stewart.Csti = args.Csti; + stewart.Kubi = args.Kubi; + stewart.Cubi = args.Cubi; + end #+end_src * Bibliography :ignore: