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Change mustBePositive to mustBeNonnegative

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Thomas Dehaeze 2020-01-29 16:49:41 +01:00
parent 568a37f220
commit 7ded5f768e
2 changed files with 298 additions and 297 deletions
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@ -145,7 +145,7 @@ The global stiffness and damping of the Stewart platform depends on its geometry
Each Actuator is modeled by 3 elements in parallel (Figure [[fig:stewart_platform_actuator]]): Each Actuator is modeled by 3 elements in parallel (Figure [[fig:stewart_platform_actuator]]):
- A spring with a stiffness $k_{i}$ - A spring with a stiffness $k_{i}$
- A dashpot with a damping $c_{i}$ - A dashpot with a damping $c_{i}$
- An ideal force actuator - An ideal force actuator generating a force $\tau_i$
#+name: fig:stewart_platform_actuator #+name: fig:stewart_platform_actuator
#+caption: Model of the Stewart platform actuator #+caption: Model of the Stewart platform actuator
@ -814,8 +814,8 @@ This Matlab function is accessible [[file:src/initializeStrutDynamics.m][here]].
#+begin_src matlab #+begin_src matlab
arguments arguments
stewart stewart
args.Ki (6,1) double {mustBeNumeric, mustBePositive} = 1e6*ones(6,1) args.Ki (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e6*ones(6,1)
args.Ci (6,1) double {mustBeNumeric, mustBePositive} = 1e1*ones(6,1) args.Ci (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e1*ones(6,1)
end end
#+end_src #+end_src
@ -849,13 +849,17 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
% %
% Inputs: % Inputs:
% - args - Structure with the following fields: % - args - Structure with the following fields:
% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad] % - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)] % - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)]
% - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad]
% - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)]
% %
% Outputs: % Outputs:
% - stewart - updated Stewart structure with the added fields: % - stewart - updated Stewart structure with the added fields:
% - Kri [6x1] - Rotational Stiffness for each spherical joints [N/rad] % - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
% - Cri [6x1] - Damping of each spherical joint [N/(rad/s)] % - Cbi [6x1] - Damping of each top spherical joint [N/(rad/s)]
% - Kti [6x1] - Rotational Stiffness for each bottom universal joints [N/rad]
% - Cti [6x1] - Damping of each bottom universal joint [N/(rad/s)]
#+end_src #+end_src
*** Optional Parameters *** Optional Parameters
@ -865,8 +869,10 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
#+begin_src matlab #+begin_src matlab
arguments arguments
stewart stewart
args.Kri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1) args.Kti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
args.Cri (6,1) double {mustBeNumeric, mustBePositive} = zeros(6,1) args.Cti (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
args.Kbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
args.Cbi (6,1) double {mustBeNumeric, mustBeNonnegative} = zeros(6,1)
end end
#+end_src #+end_src
@ -875,8 +881,10 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
:UNNUMBERED: t :UNNUMBERED: t
:END: :END:
#+begin_src matlab #+begin_src matlab
stewart.Kri = args.Kri; stewart.Kti = args.Kti;
stewart.Cri = args.Cri; stewart.Cti = args.Cti;
stewart.Kbi = args.Kbi;
stewart.Cbi = args.Cbi;
#+end_src #+end_src
* Bibliography :ignore: * Bibliography :ignore: