Important update of the stewart-architecture file

2020-01-28 17:15:19 +01:00 · 2020-01-28 17:15:19 +01:00 · 79eb28f55e
commit 79eb28f55e
parent 47c875aef4
7 changed files with 887 additions and 1675 deletions
--- a/figs/frame_definition.png
+++ b/figs/frame_definition.png
--- a/figs/joint_location.png
+++ b/figs/joint_location.png
--- a/figs/length_orientation_struts.png
+++ b/figs/length_orientation_struts.png
--- a/figs/stewart_platform_actuator.png
+++ b/figs/stewart_platform_actuator.png
--- a/src/initializeJointDynamics.m
+++ b/src/initializeJointDynamics.m
@ -0,0 +1,23 @@
+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;
--- a/stewart-architecture.html
+++ b/stewart-architecture.html
--- a/stewart-architecture.org
+++ b/stewart-architecture.org