Directory Structure
The Compliant Joint Toolbox, is organized in the following directories:
A set of MATLAB and Simulink examples demonstrating various functionalities. The toolbox features a small GUI application to comfortably select and run examples.
Core MATLAB classes and Simulink blocks that come with the Real-Time compatible Simulink library - controllers, models and observers.
Mathematical implementation of the various linear actuator models and nonlinear dynamics effects and their components. If you wish to apply the features of the Compliant Joint Toolbox with to your custom actuator model structure, study the files located here and use them as a template for your dynamics models (for experienced users).
Holds parameter files for several example actuators. They serve as a good starting point to organise your own actuator parameter files.
Templates used by the joint builder to build actuator classes.
Various tools for calculating observers, gains, transfer functions and plotting.
Unit tests to verify correct functioning of the library. If you wish to know, if the Compliant Joint Toolbox runs fine on your system, run the script `runAllTests.m' in this directory. If any of the tests do not pass, please let us know!
The joint builder will create a directory, where it stores all class definition files. It defaults to the 'build' directory in the current working directory.
