Important update of the stewart-architecture file
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figs/frame_definition.png
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figs/frame_definition.png
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figs/joint_location.png
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figs/length_orientation_struts.png
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figs/stewart_platform_actuator.png
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src/initializeJointDynamics.m
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src/initializeJointDynamics.m
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function [stewart] = initializeJointDynamics(stewart, args)
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% initializeJointDynamics - Add Stiffness and Damping properties for the spherical joints
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%
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% Syntax: [stewart] = initializeJointDynamics(args)
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%
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% Inputs:
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% - args - Structure with the following fields:
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% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
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% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
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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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% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad]
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% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)]
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arguments
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stewart
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args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
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args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1)
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end
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stewart.Kri = args.Kri;
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stewart.Cri = args.Cri;
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