From 50ac4db84d8eb6dd09a36e3976b5aa7c309cd824 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 1 Apr 2020 09:51:48 +0200 Subject: [PATCH] Small update --- org/compensation_gravity_forces.org | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/org/compensation_gravity_forces.org b/org/compensation_gravity_forces.org index 90acd4f..f60d16c 100644 --- a/org/compensation_gravity_forces.org +++ b/org/compensation_gravity_forces.org @@ -108,7 +108,7 @@ Let's simulate the system without any compensation of gravity forces. sim_no_compensation = simout; #+end_src -Verification that nothing is moving +And we can observe on Figure [[fig:transient_phase_gravity_no_compensation]] that there are some motion in the system. #+begin_src matlab :exports none figure; ax1 = subplot(2, 3, 1); @@ -316,3 +316,6 @@ Verification that nothing is moving #+name: fig:transient_phase_gravity_compensation #+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]]) [[file:figs/transient_phase_gravity_compensation.png]] +* Conclusion +This initialization technique permits to compute the required forces/torques to be applied in each joint in order to compensate for gravity forces. +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.