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Important update of the stewart-architecture file

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Thomas Dehaeze
2020-01-28 17:15:19 +01:00
parent 47c875aef4
commit 79eb28f55e
7 changed files with 887 additions and 1675 deletions
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23
src/initializeJointDynamics.m Normal file
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function [stewart] = initializeJointDynamics(stewart, args)
% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
%
% Syntax: [stewart] = initializeJointDynamics(args)
%
% Inputs:
% - args - Structure with the following fields:
% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
arguments
stewart
args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
end
stewart.Kri = args.Kri;
stewart.Cri = args.Cri;