stewart-simscape/stiffness-study.org

42 lines
1.4 KiB
Org Mode

#+TITLE: Stiffness of the Stewart Platform
:DRAWER:
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
#+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