tdehaeze/nass-simscape
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minor changes

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Thomas Dehaeze
2019-12-12 12:49:03 +01:00
parent 8980329eb5
commit 72c9afb29f
5 changed files with 63 additions and 69 deletions
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6
positioning_error/index.org
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@@ -160,7 +160,7 @@ No position error for now (perfect positioning).
And we run the simulation.
#+begin_src matlab
sim('sim_nano_station_metrology.slx');
sim('sim_nano_station_metrology');
#+end_src
** Verify that the pose of the sample is the same as the computed one
@@ -308,7 +308,7 @@ Now we introduce some positioning error.
And we run the simulation.
#+begin_src matlab
sim('sim_nano_station_metrology.slx');
sim('sim_nano_station_metrology');
#+end_src
** Compute the wanted pose of the sample in the NASS Base from the metrology and the reference
@@ -407,7 +407,7 @@ We now keep the wanted pose but we impose a displacement of the nano hexapod cor
And we run the simulation.
#+begin_src matlab
sim('sim_nano_station_metrology.slx');
sim('sim_nano_station_metrology');
#+end_src
We keep the old computed computed reference pose ${}^W\bm{T}_r$ even though we have change the nano hexapod reference, but this is not a real wanted reference but rather a adaptation to reject the positioning errors.