33 lines
935 B
Matlab
Executable File
33 lines
935 B
Matlab
Executable File
%% this script computes the transforamtion matrices for piezo to pseudo coordinates
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fjpur_111 = [-140; -67.5; 0]*0.001;
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fjpuh_111 = [-140; (220-67.5); 0]*0.001;
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fjpd_111 = [140; (110-67.5); 0]*0.001;
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fjpur_311 = [-140; -(220-67.5); 0]*0.001;
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fjpuh_311 = [-140; 67.5; 0]*0.001;
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fjpd_311 = [140; -(110-67.5); 0]*0.001;
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A_p2r_111 = [1 -1*fjpur_111(1) fjpur_111(2); 1 -1*fjpuh_111(1) fjpuh_111(2); 1 -1*fjpd_111(1) fjpd_111(2)];
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A_p2r_311 = [1 -1*fjpur_311(1) fjpur_311(2); 1 -1*fjpuh_311(1) fjpuh_311(2); 1 -1*fjpd_311(1) fjpd_311(2)];
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A_r2p_111 = inv(A_p2r_111);
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A_r2p_311 = inv(A_p2r_311);
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A_x2p = [-1 0 0; 0 1 0; 0 0 1];
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B_x2p = [0 0 0];
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motor_pos2mv = 0.6667; %modified by Ludovic 12/07/2021
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% % no calibr
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calibr_fjpur = (1);
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calibr_fjpuh = (1);
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calibr_fjpd = (1);
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%calibr
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% calibr_fjpur = (1-0.016);
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% calibr_fjpuh = (1+0.052);
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% calibr_fjpd = (1+0.0065);
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calibr_mat = [calibr_fjpur 0 0;0 calibr_fjpuh 0;0 0 calibr_fjpd];
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