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<!-- 2019-12-11 mer. 17:33 -->
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<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
|
<a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Metrology</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
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<li><a href="#orgdf449a5">1. How do we measure the position of the sample with respect to the granite</a></li>
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</ul>
</div>
</div>
<p>
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The global measurement and control schematic is shown in figure <a href="#org1be8cfd">1</a>.
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</p>
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<div id="org1be8cfd" class="figure">
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<p><img src="figs/control-schematic-nass.png" alt="control-schematic-nass.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Global Control Schematic for the Station</p>
</div>
<p>
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In this document, are interesting by the "compute Sample Position w.r.t. Granite" bloc.
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</p>
<p>
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First, in section <a href="#org09b824d">1</a>, is explained how the measurement of the position of the sample with respect to the granite is performed (using Simscape blocs).
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</p>
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<div id="outline-container-orgdf449a5" class="outline-2">
<h2 id="orgdf449a5"><span class="section-number-2">1</span> How do we measure the position of the sample with respect to the granite</h2>
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<div class="outline-text-2" id="text-1">
<p>
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<a id="org09b824d"></a>
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A transform sensor block gives the translation and orientation of the follower frame with respect to the base frame.
</p>
<p>
The base frame is fixed to the granite and located at the initial sample location that defines the zero position.
</p>
<p>
The follower frame is attached to the sample (or more precisely to the reflector).
</p>
<p>
The outputs of the transform sensor are:
</p>
<ul class="org-ul">
<li>the 3 translations x, y and z in meter</li>
<li>the <b>rotation matrix</b> \(\bm{R}\) that permits to rotate the base frame into the follower frame.</li>
</ul>
<p>
We can then determine extract other orientation conventions such that Euler angles or screw axis.
</p>
</div>
</div>
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</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2019-12-11 mer. 17:33</p>
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<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
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