Small update
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@ -108,7 +108,7 @@ Let's simulate the system without any compensation of gravity forces.
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sim_no_compensation = simout;
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#+end_src
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Verification that nothing is moving
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And we can observe on Figure [[fig:transient_phase_gravity_no_compensation]] that there are some motion in the system.
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#+begin_src matlab :exports none
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figure;
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ax1 = subplot(2, 3, 1);
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@ -316,3 +316,6 @@ Verification that nothing is moving
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#+name: fig:transient_phase_gravity_compensation
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#+caption: Motion of the sample at the start of the simulation in presence of gravity when compensating the gravity forces ([[./figs/transient_phase_gravity_compensation.png][png]], [[./figs/transient_phase_gravity_compensation.pdf][pdf]])
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[[file:figs/transient_phase_gravity_compensation.png]]
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* Conclusion
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This initialization technique permits to compute the required forces/torques to be applied in each joint in order to compensate for gravity forces.
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This initialization should be redone for each configuration (change of sample mass, change of tilt angle), but not when changing the stiffness of joints, for instant when changing from lorentz based nano-hexapod or piezo based.
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