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Default value of rot stiffness more realistic

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Thomas Dehaeze 2020-02-07 17:34:20 +01:00
parent 6389dd1b3e
commit 214cacf0e9
3 changed files with 308 additions and 308 deletions
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32
src/initializeJointDynamics.m
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@ -5,30 +5,30 @@ function [stewart] = initializeJointDynamics(stewart, args)
% %
% Inputs: % Inputs:
% - args - Structure with the following fields: % - args - Structure with the following fields:
% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad] % - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)] % - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad] % - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)] % - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad] % - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)] % - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
% - disable [true/false] - Sets all the stiffness/damping to zero % - disable [boolean] - Sets all the stiffness/damping to zero
% %
% Outputs: % Outputs:
% - stewart - updated Stewart structure with the added fields: % - stewart - updated Stewart structure with the added fields:
% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad] % - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)] % - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad] % - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)] % - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad] % - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)] % - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
arguments arguments
stewart stewart
args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1) args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+0*ones(6,1) args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1) args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1) args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.disable logical {mustBeNumericOrLogical} = false args.disable logical {mustBeNumericOrLogical} = false
end end

552
stewart-architecture.html
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32
stewart-architecture.org
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@ -868,22 +868,22 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
% %
% Inputs: % Inputs:
% - args - Structure with the following fields: % - args - Structure with the following fields:
% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad] % - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)] % - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad] % - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)] % - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad] % - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)] % - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
% - disable [true/false] - Sets all the stiffness/damping to zero % - disable [boolean] - Sets all the stiffness/damping to zero
% %
% Outputs: % Outputs:
% - stewart - updated Stewart structure with the added fields: % - stewart - updated Stewart structure with the added fields:
% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad] % - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)] % - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad] % - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)] % - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad] % - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)] % - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
#+end_src #+end_src
*** Optional Parameters *** Optional Parameters
@ -893,11 +893,11 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
#+begin_src matlab #+begin_src matlab
arguments arguments
stewart stewart
args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1) args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+0*ones(6,1) args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1) args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1) args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1) args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.disable logical {mustBeNumericOrLogical} = false args.disable logical {mustBeNumericOrLogical} = false
end end