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@ -258,16 +258,16 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2> <h2>Table of Contents</h2>
<div id="text-table-of-contents"> <div id="text-table-of-contents">
<ul> <ul>
<li><a href="#orga89c15d">1. Simulink Project (link)</a></li> <li><a href="#orgb2c859c">1. Simulink Project (link)</a></li>
<li><a href="#org664ee3d">2. Simscape Model (link)</a></li> <li><a href="#org9727aa1">2. Simscape Model (link)</a></li>
<li><a href="#org2f8b315">3. Simscape Subsystems (link)</a></li> <li><a href="#org203d0d1">3. Simscape Subsystems (link)</a></li>
<li><a href="#org2669734">4. Kinematics of the Station (link)</a></li> <li><a href="#orgcd6fbe6">4. Kinematics of the Station (link)</a></li>
<li><a href="#org6d34d67">5. Metrology (link)</a></li> <li><a href="#orgcd6e706">5. Metrology (link)</a></li>
<li><a href="#orgb65c934">6. Computation of the positioning error of the Sample (link)</a></li> <li><a href="#orgbadb5c3">6. Computation of the positioning error of the Sample (link)</a></li>
<li><a href="#orga548c6b">7. Tuning of the Dynamics of the Simscape model (link)</a></li> <li><a href="#orgc5a914e">7. Tuning of the Dynamics of the Simscape model (link)</a></li>
<li><a href="#org5750f16">8. Disturbances (link)</a></li> <li><a href="#org3905335">8. Disturbances (link)</a></li>
<li><a href="#orgbd511b6">9. Tomography Experiment (link)</a></li> <li><a href="#org0bc662a">9. Tomography Experiment (link)</a></li>
<li><a href="#org7d0cf6d">10. Useful Matlab Functions (link)</a></li> <li><a href="#org3e93696">10. Useful Matlab Functions (link)</a></li>
</ul> </ul>
</div> </div>
</div> </div>
@ -276,12 +276,8 @@ for the JavaScript code in this tag.
Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System. Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.
</p> </p>
<p> <div id="outline-container-orgb2c859c" class="outline-2">
<a href="../stewart-simscape/index.html">test</a> <h2 id="orgb2c859c"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project/index.html">link</a>)</h2>
</p>
<div id="outline-container-orga89c15d" class="outline-2">
<h2 id="orga89c15d"><span class="section-number-2">1</span> Simulink Project (<a href="./simulink_project/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
<p> <p>
The project is managed with a Simulink Project. The project is managed with a Simulink Project.
@ -290,8 +286,8 @@ Such project is briefly presented <a href="./simulink_project/index.html">here</
</div> </div>
</div> </div>
<div id="outline-container-org664ee3d" class="outline-2"> <div id="outline-container-org9727aa1" class="outline-2">
<h2 id="org664ee3d"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape/index.html">link</a>)</h2> <h2 id="org9727aa1"><span class="section-number-2">2</span> Simscape Model (<a href="./simscape/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
<p> <p>
The model of the NASS is based on Simulink and Simscape Multi-Body. The model of the NASS is based on Simulink and Simscape Multi-Body.
@ -300,8 +296,8 @@ Such toolbox is presented <a href="./simscape/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org2f8b315" class="outline-2"> <div id="outline-container-org203d0d1" class="outline-2">
<h2 id="org2f8b315"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems/index.html">link</a>)</h2> <h2 id="org203d0d1"><span class="section-number-2">3</span> Simscape Subsystems (<a href="./simscape_subsystems/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-3">
<p> <p>
The model is decomposed of multiple subsystems. The model is decomposed of multiple subsystems.
@ -315,8 +311,8 @@ All these subsystems are described <a href="./simscape_subsystems/index.html">he
</div> </div>
</div> </div>
<div id="outline-container-org2669734" class="outline-2"> <div id="outline-container-orgcd6fbe6" class="outline-2">
<h2 id="org2669734"><span class="section-number-2">4</span> Kinematics of the Station (<a href="./kinematics/index.html">link</a>)</h2> <h2 id="orgcd6fbe6"><span class="section-number-2">4</span> Kinematics of the Station (<a href="./kinematics/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
<p> <p>
First, we consider perfectly rigid elements and joints and we just study the kinematic of the station. First, we consider perfectly rigid elements and joints and we just study the kinematic of the station.
@ -326,8 +322,8 @@ This is detailed <a href="./kinematics/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org6d34d67" class="outline-2"> <div id="outline-container-orgcd6e706" class="outline-2">
<h2 id="org6d34d67"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2> <h2 id="orgcd6e706"><span class="section-number-2">5</span> Metrology (<a href="./metrology/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
<p> <p>
In this document (accessible <a href="./metrology/index.html">here</a>), we discuss the measurement of the sample with respect to the granite. In this document (accessible <a href="./metrology/index.html">here</a>), we discuss the measurement of the sample with respect to the granite.
@ -335,8 +331,8 @@ In this document (accessible <a href="./metrology/index.html">here</a>), we disc
</div> </div>
</div> </div>
<div id="outline-container-orgb65c934" class="outline-2"> <div id="outline-container-orgbadb5c3" class="outline-2">
<h2 id="orgb65c934"><span class="section-number-2">6</span> Computation of the positioning error of the Sample (<a href="./positioning_error/index.html">link</a>)</h2> <h2 id="orgbadb5c3"><span class="section-number-2">6</span> Computation of the positioning error of the Sample (<a href="./positioning_error/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-6">
<p> <p>
From the measurement of the position of the sample with respect to the granite and from the wanted position of each stage, we can compute the positioning error of the sample with respect to the nano-hexapod. From the measurement of the position of the sample with respect to the granite and from the wanted position of each stage, we can compute the positioning error of the sample with respect to the nano-hexapod.
@ -345,8 +341,8 @@ This is done <a href="./positioning_error/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-orga548c6b" class="outline-2"> <div id="outline-container-orgc5a914e" class="outline-2">
<h2 id="orga548c6b"><span class="section-number-2">7</span> Tuning of the Dynamics of the Simscape model (<a href="./identification/index.html">link</a>)</h2> <h2 id="orgc5a914e"><span class="section-number-2">7</span> Tuning of the Dynamics of the Simscape model (<a href="./identification/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-7"> <div class="outline-text-2" id="text-7">
<p> <p>
From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics. From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.
@ -358,8 +354,8 @@ This is explained <a href="./identification/index.html">here</a>.
</div> </div>
</div> </div>
<div id="outline-container-org5750f16" class="outline-2"> <div id="outline-container-org3905335" class="outline-2">
<h2 id="org5750f16"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2> <h2 id="org3905335"><span class="section-number-2">8</span> Disturbances (<a href="./disturbances/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-8"> <div class="outline-text-2" id="text-8">
<p> <p>
The effect of disturbances on the position of the micro-station have been measured. The effect of disturbances on the position of the micro-station have been measured.
@ -376,8 +372,8 @@ We also discuss how the disturbances are implemented in the model.
</div> </div>
</div> </div>
<div id="outline-container-orgbd511b6" class="outline-2"> <div id="outline-container-org0bc662a" class="outline-2">
<h2 id="orgbd511b6"><span class="section-number-2">9</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2> <h2 id="org0bc662a"><span class="section-number-2">9</span> Tomography Experiment (<a href="./experiment_tomography/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-9"> <div class="outline-text-2" id="text-9">
<p> <p>
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments. Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.
@ -389,8 +385,8 @@ Tomography experiments are simulated and the results are presented <a href="./ex
</div> </div>
</div> </div>
<div id="outline-container-org7d0cf6d" class="outline-2"> <div id="outline-container-org3e93696" class="outline-2">
<h2 id="org7d0cf6d"><span class="section-number-2">10</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2> <h2 id="org3e93696"><span class="section-number-2">10</span> Useful Matlab Functions (<a href="./functions/index.html">link</a>)</h2>
<div class="outline-text-2" id="text-10"> <div class="outline-text-2" id="text-10">
<p> <p>
Many matlab functions are shared among all the files of the projects. Many matlab functions are shared among all the files of the projects.

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@ -43,8 +43,6 @@
Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System. Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.
[[file:../stewart-simscape/index.org][test]]
* Simulink Project ([[./simulink_project/index.org][link]]) * Simulink Project ([[./simulink_project/index.org][link]])
The project is managed with a Simulink Project. The project is managed with a Simulink Project.
Such project is briefly presented [[./simulink_project/index.org][here]]. Such project is briefly presented [[./simulink_project/index.org][here]].

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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2019-12-11 mer. 14:47 --> <!-- 2019-12-12 jeu. 11:39 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" /> <meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Kinematics of the station</title> <title>Kinematics of the station</title>
@ -283,16 +283,16 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2> <h2>Table of Contents</h2>
<div id="text-table-of-contents"> <div id="text-table-of-contents">
<ul> <ul>
<li><a href="#orgf49d055">1. Micro Hexapod</a> <li><a href="#org1c1eaea">1. Micro Hexapod</a>
<ul> <ul>
<li><a href="#orgb024fa1">1.1. How the Symetrie Hexapod is controlled on the micro station</a></li> <li><a href="#orgbed4ee9">1.1. How the Symetrie Hexapod is controlled on the micro station</a></li>
<li><a href="#org34abe0f">1.2. Control of the Micro-Hexapod using Simscape</a> <li><a href="#org3fdba3a">1.2. Control of the Micro-Hexapod using Simscape</a>
<ul> <ul>
<li><a href="#org118cdf5">1.2.1. Using Bushing Joint</a></li> <li><a href="#org6d226ad">1.2.1. Using Bushing Joint</a></li>
<li><a href="#org37b4bdd">1.2.2. Using Inverse Kinematics and Leg Actuators</a> <li><a href="#orgd390910">1.2.2. Using Inverse Kinematics and Leg Actuators</a>
<ul> <ul>
<li><a href="#org9839e83">1.2.2.1. Theory</a></li> <li><a href="#orgf6ea97b">1.2.2.1. Theory</a></li>
<li><a href="#org78fd3cf">1.2.2.2. Matlab Implementation</a></li> <li><a href="#org67bcb7b">1.2.2.2. Matlab Implementation</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@ -307,12 +307,12 @@ for the JavaScript code in this tag.
In this document, we discuss the way the motion of each stage is defined. In this document, we discuss the way the motion of each stage is defined.
</p> </p>
<div id="outline-container-orgf49d055" class="outline-2"> <div id="outline-container-org1c1eaea" class="outline-2">
<h2 id="orgf49d055"><span class="section-number-2">1</span> Micro Hexapod</h2> <h2 id="org1c1eaea"><span class="section-number-2">1</span> Micro Hexapod</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
</div> </div>
<div id="outline-container-orgb024fa1" class="outline-3"> <div id="outline-container-orgbed4ee9" class="outline-3">
<h3 id="orgb024fa1"><span class="section-number-3">1.1</span> How the Symetrie Hexapod is controlled on the micro station</h3> <h3 id="orgbed4ee9"><span class="section-number-3">1.1</span> How the Symetrie Hexapod is controlled on the micro station</h3>
<div class="outline-text-3" id="text-1-1"> <div class="outline-text-3" id="text-1-1">
<p> <p>
For the Micro-Hexapod, the convention for the angles are defined in <code>MAN_A_Software API_4.0.150918_EN.pdf</code> on page 13 (section 2.4 - Rotation Vectors): For the Micro-Hexapod, the convention for the angles are defined in <code>MAN_A_Software API_4.0.150918_EN.pdf</code> on page 13 (section 2.4 - Rotation Vectors):
@ -360,8 +360,8 @@ Thus, it does the translations and then the rotation around the new translated f
</div> </div>
</div> </div>
<div id="outline-container-org34abe0f" class="outline-3"> <div id="outline-container-org3fdba3a" class="outline-3">
<h3 id="org34abe0f"><span class="section-number-3">1.2</span> Control of the Micro-Hexapod using Simscape</h3> <h3 id="org3fdba3a"><span class="section-number-3">1.2</span> Control of the Micro-Hexapod using Simscape</h3>
<div class="outline-text-3" id="text-1-2"> <div class="outline-text-3" id="text-1-2">
<p> <p>
We can think of two main ways to position the Micro-Hexapod using Simscape. We can think of two main ways to position the Micro-Hexapod using Simscape.
@ -378,15 +378,15 @@ This require a little bit more of mathematical derivations but this is the chose
</p> </p>
</div> </div>
<div id="outline-container-org118cdf5" class="outline-4"> <div id="outline-container-org6d226ad" class="outline-4">
<h4 id="org118cdf5"><span class="section-number-4">1.2.1</span> Using Bushing Joint</h4> <h4 id="org6d226ad"><span class="section-number-4">1.2.1</span> Using Bushing Joint</h4>
<div class="outline-text-4" id="text-1-2-1"> <div class="outline-text-4" id="text-1-2-1">
<p> <p>
In the documentation of the Bushing Joint (<code>doc "Bushing Joint"</code>) that is used to position the Hexapods, it is mention that the following frame is positioned with respect to the base frame in a way shown in figure <a href="#orgbf74afe">1</a>. In the documentation of the Bushing Joint (<code>doc "Bushing Joint"</code>) that is used to position the Hexapods, it is mention that the following frame is positioned with respect to the base frame in a way shown in figure <a href="#orgb016316">1</a>.
</p> </p>
<div id="orgbf74afe" class="figure"> <div id="orgb016316" class="figure">
<p><img src="figs/bushing_joint_transform.png" alt="bushing_joint_transform.png" /> <p><img src="figs/bushing_joint_transform.png" alt="bushing_joint_transform.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Joint Transformation Sequence for the Bushing Joint</p> <p><span class="figure-number">Figure 1: </span>Joint Transformation Sequence for the Bushing Joint</p>
@ -404,8 +404,8 @@ However, the Bushing Joint makes rotations around mobiles axes (X, Y' and then Z
</div> </div>
</div> </div>
<div id="outline-container-org37b4bdd" class="outline-4"> <div id="outline-container-orgd390910" class="outline-4">
<h4 id="org37b4bdd"><span class="section-number-4">1.2.2</span> Using Inverse Kinematics and Leg Actuators</h4> <h4 id="orgd390910"><span class="section-number-4">1.2.2</span> Using Inverse Kinematics and Leg Actuators</h4>
<div class="outline-text-4" id="text-1-2-2"> <div class="outline-text-4" id="text-1-2-2">
<p> <p>
Here, we can use the Inverse Kinematic of the Hexapod to determine the length of each leg in order to obtain some defined translation and rotation of the mobile platform. Here, we can use the Inverse Kinematic of the Hexapod to determine the length of each leg in order to obtain some defined translation and rotation of the mobile platform.
@ -431,8 +431,8 @@ Thus, for this simulation, we <b>remove the gravity</b>.
</p> </p>
</div> </div>
<div id="outline-container-org9839e83" class="outline-5"> <div id="outline-container-orgf6ea97b" class="outline-5">
<h5 id="org9839e83"><span class="section-number-5">1.2.2.1</span> Theory</h5> <h5 id="orgf6ea97b"><span class="section-number-5">1.2.2.1</span> Theory</h5>
<div class="outline-text-5" id="text-1-2-2-1"> <div class="outline-text-5" id="text-1-2-2-1">
<p> <p>
For inverse kinematic analysis, it is assumed that the position \({}^A\bm{P}\) and orientation of the moving platform \({}^A\bm{R}_B\) are given and the problem is to obtain the joint variables, namely, \(\bm{L} = [l_1, l_2, \dots, l_6]^T\). For inverse kinematic analysis, it is assumed that the position \({}^A\bm{P}\) and orientation of the moving platform \({}^A\bm{R}_B\) are given and the problem is to obtain the joint variables, namely, \(\bm{L} = [l_1, l_2, \dots, l_6]^T\).
@ -443,7 +443,7 @@ From the geometry of the manipulator, the loop closure for each limb, \(i = 1, 2
</p> </p>
\begin{align*} \begin{align*}
l_i {}^A\hat{\bm{s}}_i &= {}^A\bm{A} + {}^A\bm{b}_i - {}^A\bm{a}_i \\ l_i {}^A\hat{\bm{s}}_i &= {}^A\bm{A} + {}^A\bm{b}_i - {}^A\bm{a}_i \\
&= {}^A\bm{A} + {}^A\bm{R}_b {}^B\bm{b}_i - {}^A\bm{a}_i &= {}^A\bm{A} + {}^A\bm{R}_b {}^B\bm{b}_i - {}^A\bm{a}_i
\end{align*} \end{align*}
<p> <p>
@ -467,14 +467,14 @@ Otherwise, when the limbs' lengths derived yield complex numbers, then the posit
</div> </div>
</div> </div>
<div id="outline-container-org78fd3cf" class="outline-5"> <div id="outline-container-org67bcb7b" class="outline-5">
<h5 id="org78fd3cf"><span class="section-number-5">1.2.2.2</span> Matlab Implementation</h5> <h5 id="org67bcb7b"><span class="section-number-5">1.2.2.2</span> Matlab Implementation</h5>
<div class="outline-text-5" id="text-1-2-2-2"> <div class="outline-text-5" id="text-1-2-2-2">
<p> <p>
We open the Simulink file. We open the Simulink file.
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">open <span class="org-string">'simscape/hexapod_tests.slx'</span> <pre class="src src-matlab">open<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'kinematics/matlab/hexapod_tests.slx'</span><span class="org-rainbow-delimiters-depth-1">)</span>
</pre> </pre>
</div> </div>
@ -482,7 +482,7 @@ We open the Simulink file.
We load the configuration and set a small <code>StopTime</code>. We load the configuration and set a small <code>StopTime</code>.
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'simscape/conf_simscape.mat'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <pre class="src src-matlab">load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/conf_simscape.mat'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-matlab-simulink-keyword">set_param</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">conf_simscape</span>, <span class="org-string">'StopTime'</span>, '<span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">5</span><span class="org-type">'</span><span class="org-rainbow-delimiters-depth-1">)</span>; <span class="org-matlab-simulink-keyword">set_param</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">conf_simscape</span>, <span class="org-string">'StopTime'</span>, '<span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">5</span><span class="org-type">'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre> </pre>
</div> </div>
@ -518,7 +518,7 @@ hexapod = initializeMicroHexapod<span class="org-rainbow-delimiters-depth-1">(</
We run the simulation. We run the simulation.
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'simscape/hexapod_tests.slx'</span><span class="org-rainbow-delimiters-depth-1">)</span> <pre class="src src-matlab"><span class="org-matlab-simulink-keyword">sim</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'hexapod_tests'</span><span class="org-rainbow-delimiters-depth-1">)</span>
</pre> </pre>
</div> </div>
@ -594,7 +594,7 @@ And we verify that we indeed succeed to go to the wanted position.
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-12-11 mer. 14:47</p> <p class="date">Created: 2019-12-12 jeu. 11:39</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p> <p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div> </div>
</body> </body>

2
kinematics/index.org
View File

@ -182,7 +182,7 @@ We define the wanted position/orientation of the Hexapod under study.
We run the simulation. We run the simulation.
#+begin_src matlab #+begin_src matlab
sim('hexapod_tests.slx') sim('hexapod_tests')
#+end_src #+end_src
And we verify that we indeed succeed to go to the wanted position. And we verify that we indeed succeed to go to the wanted position.

6
positioning_error/index.org
View File

@ -160,7 +160,7 @@ No position error for now (perfect positioning).
And we run the simulation. And we run the simulation.
#+begin_src matlab #+begin_src matlab
sim('sim_nano_station_metrology.slx'); sim('sim_nano_station_metrology');
#+end_src #+end_src
** Verify that the pose of the sample is the same as the computed one ** 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. And we run the simulation.
#+begin_src matlab #+begin_src matlab
sim('sim_nano_station_metrology.slx'); sim('sim_nano_station_metrology');
#+end_src #+end_src
** Compute the wanted pose of the sample in the NASS Base from the metrology and the reference ** 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. And we run the simulation.
#+begin_src matlab #+begin_src matlab
sim('sim_nano_station_metrology.slx'); sim('sim_nano_station_metrology');
#+end_src #+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. 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.