#+TITLE: Stiffness of the Stewart Platform
:DRAWER:
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#+HTML_LINK_UP: ./index.html

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#+PROPERTY: header-args:matlab  :session *MATLAB*
#+PROPERTY: header-args:matlab+ :tangle matlab/stiffness_study.m
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:matlab+ :output-dir figs
:END:

* Functions
  :PROPERTIES:
  :HEADER-ARGS:matlab+: :exports code
  :HEADER-ARGS:matlab+: :comments no
  :HEADER-ARGS:matlab+: :mkdir yes
  :HEADER-ARGS:matlab+: :eval no
  :END:
** getStiffnessMatrix
  :PROPERTIES:
  :HEADER-ARGS:matlab+: :tangle src/getStiffnessMatrix.m
  :END:
#+begin_src matlab
  function [K] = getStiffnessMatrix(k, J)
  % k - leg stiffness
  % J - Jacobian matrix
      K = k*(J'*J);
  end
#+end_src