nass-simscape/metrology/index.org

#+TITLE: Metrology
:DRAWER:
#+STARTUP: overview

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#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

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* Introduction                                                       :ignore:
The global measurement and control schematic is shown in figure [[fig:control-schematic-nass]].

#+name: fig:control-schematic-nass
#+caption: Global Control Schematic for the Station
[[file:figs/control-schematic-nass.png]]

In this document, are interesting by the "compute Sample Position w.r.t. Granite" bloc.

First, in section [[sec:measurement_principle]], is explained how the measurement of the position of the sample with respect to the granite is performed (using Simscape blocs).

* How do we measure the position of the sample with respect to the granite
<<sec:measurement_principle>>
A transform sensor block gives the translation and orientation of the follower frame with respect to the base frame.

The base frame is fixed to the granite and located at the initial sample location that defines the zero position.

The follower frame is attached to the sample (or more precisely to the reflector).

The outputs of the transform sensor are:
- the 3 translations x, y and z in meter
- the *rotation matrix* $\bm{R}$ that permits to rotate the base frame into the follower frame.

We can then determine extract other orientation conventions such that Euler angles or screw axis.