Compute sensor/actuator constants
This commit is contained in:
98
matlab/src/initializeAPA.m
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98
matlab/src/initializeAPA.m
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function [actuator] = initializeAPA(args)
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% initializeAPA -
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%
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% Syntax: [actuator] = initializeAPA(args)
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%
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% Inputs:
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% - args -
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%
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% Outputs:
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% - actuator -
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arguments
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args.type char {mustBeMember(args.type,{'2dof', 'flexible frame', 'flexible'})} = '2dof'
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args.Ga (1,1) double {mustBeNumeric} = 0
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args.Gs (1,1) double {mustBeNumeric} = 0
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% For 2DoF
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args.k (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.35e6
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args.ke (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1.5e6
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args.ka (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*43e6
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args.c (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*3e1
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args.ce (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
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args.ca (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*2e1
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args.Leq (6,1) double {mustBeNumeric} = ones(6,1)*0.056
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% Force Flexible APA
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args.xi (1,1) double {mustBeNumeric, mustBePositive} = 0.5
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% For Flexible Frame
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args.ks (1,1) double {mustBeNumeric, mustBePositive} = 235e6
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args.cs (1,1) double {mustBeNumeric, mustBePositive} = 1e1
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end
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actuator = struct();
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switch args.type
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case '2dof'
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actuator.type = 1;
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case 'flexible frame'
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actuator.type = 2;
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case 'flexible'
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actuator.type = 3;
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end
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if args.Ga == 0
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switch args.type
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case '2dof'
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actuator.Ga = -46.4;
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case 'flexible frame'
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actuator.Ga = 1; % TODO
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case 'flexible'
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actuator.Ga = 23.4;
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end
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else
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actuator.Ga = args.Ga; % Actuator gain [N/V]
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end
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if args.Gs == 0
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switch args.type
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case '2dof'
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actuator.Gs = 0.098;
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case 'flexible frame'
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actuator.Gs = 1; % TODO
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case 'flexible'
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actuator.Gs = -4674824;
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end
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else
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actuator.Gs = args.Gs; % Sensor gain [V/m]
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end
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actuator.k = args.k; % [N/m]
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actuator.ke = args.ke; % [N/m]
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actuator.ka = args.ka; % [N/m]
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actuator.c = args.c; % [N/(m/s)]
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actuator.ce = args.ce; % [N/(m/s)]
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actuator.ca = args.ca; % [N/(m/s)]
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actuator.Leq = args.Leq; % [m]
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switch args.type
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case 'flexible frame'
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actuator.K = readmatrix('APA300ML_b_mat_K.CSV'); % Stiffness Matrix
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actuator.M = readmatrix('APA300ML_b_mat_M.CSV'); % Mass Matrix
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actuator.P = extractNodes('APA300ML_b_out_nodes_3D.txt'); % Node coordinates [m]
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case 'flexible'
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actuator.K = readmatrix('full_APA300ML_K.CSV'); % Stiffness Matrix
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actuator.M = readmatrix('full_APA300ML_M.CSV'); % Mass Matrix
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actuator.P = extractNodes('full_APA300ML_out_nodes_3D.txt'); % Node coordiantes [m]
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end
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actuator.xi = args.xi; % Damping ratio
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actuator.ks = args.ks; % Stiffness of one stack [N/m]
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actuator.cs = args.cs; % Damping of one stack [N/m]
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45
matlab/src/initializeBotFlexibleJoint.m
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45
matlab/src/initializeBotFlexibleJoint.m
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function [flex_bot] = initializeBotFlexibleJoint(args)
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% initializeBotFlexibleJoint -
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%
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% Syntax: [flex_bot] = initializeBotFlexibleJoint(args)
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%
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% Inputs:
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% - args -
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%
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% Outputs:
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% - flex_bot -
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arguments
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args.type char {mustBeMember(args.type,{'2dof', '3dof', '4dof'})} = '2dof'
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args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
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args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
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args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
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args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
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args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
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args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
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args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
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args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
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end
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flex_bot = struct();
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switch args.type
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case '2dof'
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flex_bot.type = 1;
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case '3dof'
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flex_bot.type = 2;
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case '4dof'
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flex_bot.type = 3;
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end
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flex_bot.kRx = args.kRx;
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flex_bot.kRy = args.kRy;
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flex_bot.kRz = args.kRz;
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flex_bot.kz = args.kz;
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flex_bot.cRx = args.cRx;
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flex_bot.cRy = args.cRy;
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flex_bot.cRz = args.cRz;
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flex_bot.cz = args.cz;
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45
matlab/src/initializeTopFlexibleJoint.m
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45
matlab/src/initializeTopFlexibleJoint.m
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function [flex_top] = initializeTopFlexibleJoint(args)
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% initializeTopFlexibleJoint -
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%
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% Syntax: [flex_top] = initializeTopFlexibleJoint(args)
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%
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% Inputs:
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% - args -
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%
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% Outputs:
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% - flex_top -
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arguments
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args.type char {mustBeMember(args.type,{'2dof', '3dof', '4dof'})} = '2dof'
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args.kRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
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args.kRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*5
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args.kRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*260
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args.kz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e8
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args.cRx (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
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args.cRy (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
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args.cRz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*0.1
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args.cz (6,1) double {mustBeNumeric, mustBePositive} = ones(6,1)*1e2
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end
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flex_top = struct();
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switch args.type
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case '2dof'
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flex_top.type = 1;
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case '3dof'
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flex_top.type = 2;
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case '4dof'
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flex_top.type = 3;
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end
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flex_top.kRx = args.kRx;
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flex_top.kRy = args.kRy;
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flex_top.kRz = args.kRz;
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flex_top.kz = args.kz;
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flex_top.cRx = args.cRx;
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flex_top.cRy = args.cRy;
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flex_top.cRz = args.cRz;
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flex_top.cz = args.cz;
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