Default value of rot stiffness more realistic
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@ -5,30 +5,30 @@ function [stewart] = initializeJointDynamics(stewart, args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
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% - disable [true/false] - Sets all the stiffness/damping to zero
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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
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% - disable [boolean] - Sets all the stiffness/damping to zero
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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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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
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arguments
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stewart
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args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
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args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
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args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
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args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+0*ones(6,1)
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args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
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args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
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args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
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args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
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args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
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args.disable logical {mustBeNumericOrLogical} = false
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end
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File diff suppressed because it is too large
Load Diff
@ -868,22 +868,22 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
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% - disable [true/false] - Sets all the stiffness/damping to zero
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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
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% - disable [boolean] - Sets all the stiffness/damping to zero
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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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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
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% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [(N.m)/rad]
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% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [(N.m)/(rad/s)]
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% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [(N.m)/rad]
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% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [(N.m)/(rad/s)]
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#+end_src
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*** Optional Parameters
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@ -893,11 +893,11 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
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#+begin_src matlab
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arguments
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stewart
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args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
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args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
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args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
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args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+0*ones(6,1)
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args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 20*ones(6,1)
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args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
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args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
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args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 15*ones(6,1)
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args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
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args.disable logical {mustBeNumericOrLogical} = false
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end
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