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Add stiffness to flexible joints

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This commit is contained in:
Thomas Dehaeze 2020-02-06 15:39:45 +01:00
parent f06a119922
commit b4957079f5
3 changed files with 58 additions and 26 deletions
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13
identification.org
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@ -105,6 +105,19 @@ An important difference from basic Simulink models is that the states in a physi
#+end_src
* States as the motion of the mobile platform
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src
#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
#+end_src
** Initialize the Stewart Platform
#+begin_src matlab
stewart = initializeFramesPositions();

51
src/initializeJointDynamics.m
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@ -5,27 +5,46 @@ function [stewart] = initializeJointDynamics(stewart, args)
%
% Inputs:
% - args - Structure with the following fields:
% - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
% - 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)]
% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
% - disable [true/false] - Sets all the stiffness/damping to zero
%
% Outputs:
% - stewart - updated Stewart structure with the added fields:
% - Kbi [6x1] - Rotational Stiffness for each top spherical joints [N/rad]
% - 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)]
% - Ksbi [6x1] - Bending (Rx, Ry) Stiffness for each top Spherical joints [N/rad]
% - Csbi [6x1] - Bending (Rx, Ry) Damping of each top Spherical joint [N/(rad/s)]
% - Ksti [6x1] - Torsion (Rz) Stiffness for each top Spherical joints [N/rad]
% - Csti [6x1] - Torsion (Rz) Damping of each top Spherical joint [N/(rad/s)]
% - Kubi [6x1] - Bending (Rx, Ry) Stiffness for each bottom Universal joints [N/rad]
% - Cubi [6x1] - Bending (Rx, Ry) Damping of each bottom Universal joint [N/(rad/s)]
arguments
stewart
args.Kti (6,1) double {mustBeNumeric, mustBeNonnegative} = 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)
args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+0*ones(6,1)
args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.disable logical {mustBeNumericOrLogical} = false
end
stewart.Kti = args.Kti;
stewart.Cti = args.Cti;
stewart.Kbi = args.Kbi;
stewart.Cbi = args.Cbi;
if args.disable
stewart.Ksbi = zeros(6,1);
stewart.Csbi = zeros(6,1);
stewart.Ksti = zeros(6,1);
stewart.Csti = zeros(6,1);
stewart.Kubi = zeros(6,1);
stewart.Cubi = zeros(6,1);
else
stewart.Ksbi = args.Ksbi;
stewart.Csbi = args.Csbi;
stewart.Ksti = args.Ksti;
stewart.Csti = args.Csti;
stewart.Kubi = args.Kubi;
stewart.Cubi = args.Cubi;
end

20
stewart-architecture.org
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@ -874,11 +874,11 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
#+begin_src matlab
arguments
stewart
args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-1*ones(6,1)
args.Ksbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
args.Csbi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-2*ones(6,1)
args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-1*ones(6,1)
args.Ksti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+0*ones(6,1)
args.Csti (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-3*ones(6,1)
args.Kubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e+1*ones(6,1)
args.Cubi (6,1) double {mustBeNumeric, mustBeNonnegative} = 1e-4*ones(6,1)
args.disable logical {mustBeNumericOrLogical} = false
end
@ -890,12 +890,12 @@ This Matlab function is accessible [[file:src/initializeJointDynamics.m][here]].
:END:
#+begin_src matlab
if args.disable
stewart.Ksbi = 0;
stewart.Csbi = 0;
stewart.Ksti = 0;
stewart.Csti = 0;
stewart.Kubi = 0;
stewart.Cubi = 0;
stewart.Ksbi = zeros(6,1);
stewart.Csbi = zeros(6,1);
stewart.Ksti = zeros(6,1);
stewart.Csti = zeros(6,1);
stewart.Kubi = zeros(6,1);
stewart.Cubi = zeros(6,1);
else
stewart.Ksbi = args.Ksbi;
stewart.Csbi = args.Csbi;