39 lines
1.1 KiB
Matlab
39 lines
1.1 KiB
Matlab
%% Script Description
|
|
%%
|
|
clear; close all; clc;
|
|
|
|
%%
|
|
K_iff = tf(zeros(6));
|
|
save('./mat/controllers.mat', 'K_iff', '-append');
|
|
|
|
%% System - perfectly aligned
|
|
initializeHexapod(struct('actuator', 'piezo', 'jacobian', 1, 'density', 0.1));
|
|
initializeSample(struct('mass', 50, 'height', 1, 'measheight', 1, 'offset', [0, 0, -25.5]));
|
|
|
|
% Identification
|
|
G_center = identifyPlant();
|
|
|
|
%% System - Jacobian is too high
|
|
initializeHexapod(struct('actuator', 'piezo', 'jacobian', 160));
|
|
initializeSample(struct('mass', 50, 'height', 300, 'measheight', 150));
|
|
|
|
% Identification
|
|
G_Jac_offset = identifyPlant();
|
|
|
|
%% System - CoM is too low
|
|
initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
|
|
initializeSample(struct('mass', 50, 'height', 280, 'measheight', 150));
|
|
|
|
% Identification
|
|
G_CoM_offset = identifyPlant();
|
|
|
|
%% System - Meas point is too high
|
|
initializeHexapod(struct('actuator', 'piezo', 'jacobian', 150));
|
|
initializeSample(struct('mass', 50, 'height', 300, 'measheight', 160));
|
|
|
|
% Identification
|
|
G_Meas_offset = identifyPlant();
|
|
|
|
%% Save
|
|
save('./mat/G_jacobian.mat', 'G_center', 'G_Jac_offset', 'G_CoM_offset', 'G_Meas_offset');
|