tdehaeze/nass-simscape
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Small update

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Thomas Dehaeze 2020-04-01 09:51:48 +02:00
parent 44970cd588
commit 50ac4db84d
1 changed files with 4 additions and 1 deletions
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org/compensation_gravity_forces.org
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@ -108,7 +108,7 @@ Let's simulate the system without any compensation of gravity forces.
sim_no_compensation = simout; sim_no_compensation = simout;
#+end_src #+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 #+begin_src matlab :exports none
figure; figure;
ax1 = subplot(2, 3, 1); ax1 = subplot(2, 3, 1);
@ -316,3 +316,6 @@ Verification that nothing is moving
#+name: fig:transient_phase_gravity_compensation #+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]]) #+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]] [[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.