nass-simscape/docs/control_force.html

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<title>Force Control applied on the Simscape Model</title>
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<h1 class="title">Force Control applied on the Simscape Model</h1>
<p>
Cascade Control where the inner loop goal is to control the total wrench (forces and torques) applied to the upper part of the nano-hexapod.
</p>

<p>
The force will induce an acceleration of the upper part, thus we can consider the new input \(\bm{r}_\mathcal{F}\) as an acceleration input.
</p>

<p>
Ideas:
</p>
<ul class="org-ul">
<li>This can be used as <b>feedforward</b>: we now the wanted 6dof reference path for the sample, thus we can compute the required acceleration and thus the required force. To do so, we need information on the inertia of the sample.</li>
</ul>


<div class="figure">
<p><img src="figs/control_cascade_force_F.png" alt="control_cascade_force_F.png" />
</p>
</div>


<div class="figure">
<p><img src="figs/control_cascade_force_tau.png" alt="control_cascade_force_tau.png" />
</p>
</div>
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<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-04-17 ven. 09:35</p>
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			`<h1 class="title">Force Control applied on the Simscape Model</h1>`
			`<p>`
			`Cascade Control where the inner loop goal is to control the total wrench (forces and torques) applied to the upper part of the nano-hexapod.`
			`</p>`

			`<p>`
			`The force will induce an acceleration of the upper part, thus we can consider the new input \(\bm{r}_\mathcal{F}\) as an acceleration input.`
			`</p>`

			`<p>`
			`Ideas:`
			`</p>`
			`<ul class="org-ul">`
			`<li>This can be used as <b>feedforward</b>: we now the wanted 6dof reference path for the sample, thus we can compute the required acceleration and thus the required force. To do so, we need information on the inertia of the sample.</li>`
			`</ul>`


			`<div class="figure">`
			`<p><img src="figs/control_cascade_force_F.png" alt="control_cascade_force_F.png" />`
			`</p>`
			`</div>`


			`<div class="figure">`
			`<p><img src="figs/control_cascade_force_tau.png" alt="control_cascade_force_tau.png" />`
			`</p>`
			`</div>`
			`</div>`
			`<div id="postamble" class="status">`
			`<p class="author">Author: Dehaeze Thomas</p>`
Add org-setup-file that all org file links to 2020-04-17 10:25:44 +02:00			`<p class="date">Created: 2020-04-17 ven. 09:35</p>`
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