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[[file:figs/control_architecture_hac_iff_X.png]] -** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite +** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the task space #+begin_src latex :file control_architecture_hac_iff_pos_X.pdf \begin{tikzpicture} % Blocs @@ -514,6 +514,43 @@ Usually, the Low Authority Controller is first design, and then the High Authori #+RESULTS: [[file:figs/control_architecture_hac_iff_pos_X.png]] +** HAC-LAC using IFF - the HAC controller is positioning the sample w.r.t. the granite in the space of the legs +#+begin_src latex :file control_architecture_hac_iff_pos_L.pdf + \begin{tikzpicture} + % Blocs + \node[block={3.0cm}{3.0cm}] (P) {Plant}; + \coordinate[] (inputF) at ($(P.south west)!0.5!(P.north west)$); + \coordinate[] (outputF) at ($(P.south east)!0.8!(P.north east)$); + \coordinate[] (outputX) at ($(P.south east)!0.5!(P.north east)$); + \coordinate[] (outputL) at ($(P.south east)!0.2!(P.north east)$); + + \node[block, above=0.4 of P] (Kiff) {$\bm{K}_\text{IFF}$}; + \node[addb={+}{}{-}{}{}, left= of inputF] (addF) {}; + \node[block, left= of addF] (K) {$\bm{K}_\mathcal{L}$}; + \node[block, left= of K] (J) {$\bm{J}$}; + \node[block, align=center, left= of J] (Ex) {Compute\\Pos. Error}; + + % Connections and labels + \draw[->] (outputF) -- ++(1, 0) node[below left]{$\bm{\tau}_m$}; + \draw[->] ($(outputF) + (0.6, 0)$)node[branch]{} |- (Kiff.east); + \draw[->] (Kiff.west) -| (addF.north); + \draw[->] (addF.east) -- (inputF) node[above left]{$\bm{\tau}$}; + + \draw[->] (outputL) -- ++(1, 0) node[above left]{$d\bm{\mathcal{L}}$}; + + \draw[->] (outputX) -- ++(1.6, 0) node[above left]{$\bm{\mathcal{X}}$}; + \draw[->] ($(outputX) + (1.2, 0)$)node[branch]{} -- ++(0, -2) -| (Ex.south); + + \draw[<-] (Ex.west)node[above left]{$\bm{r}_{\mathcal{X}}$} -- ++(-1, 0); + \draw[->] (Ex.east) -- (J.west) node[above left]{$\bm{\epsilon}_{\mathcal{X}_n}$}; + \draw[->] (J.east) -- (K.west) node[above left]{$\bm{\epsilon}_{\mathcal{L}}$}; + \draw[->] (K.east) -- (addF.west) node[above left]{$\bm{\tau}^\prime$}; + \end{tikzpicture} +#+end_src + +#+RESULTS: +[[file:figs/control_architecture_hac_iff_pos_L.png]] + * Cascade Architectures ([[file:control_cascade.org][link]]) <> ** Introduction :ignore: