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Add analysis about Cedrat Piezo actuators

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Thomas Dehaeze
2019-10-29 10:52:59 +01:00
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<head>
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Simscape Model of the Nano-Active-Stabilization-System</title>
@@ -258,69 +258,69 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgd5f16ac">1. Simulink project</a></li>
<li><a href="#org56e7a51">2. Simscape Model</a>
<li><a href="#org6af5373">1. Simulink project</a></li>
<li><a href="#org2e621fc">2. Simscape Model</a>
<ul>
<li><a href="#org82961d5">2.1. Solid bodies</a></li>
<li><a href="#orga42124d">2.2. Frames</a></li>
<li><a href="#orge055114">2.3. Joints</a></li>
<li><a href="#org47e566a">2.4. Measurements</a></li>
<li><a href="#org5a09b26">2.5. Excitation</a></li>
<li><a href="#orga525a01">2.1. Solid bodies</a></li>
<li><a href="#orgfcbb75d">2.2. Frames</a></li>
<li><a href="#orga9f9a27">2.3. Joints</a></li>
<li><a href="#org09ee778">2.4. Measurements</a></li>
<li><a href="#org318de2c">2.5. Excitation</a></li>
</ul>
</li>
<li><a href="#org51638cf">3. Notes</a>
<li><a href="#orgc7f7e1c">3. Notes</a>
<ul>
<li><a href="#orga5a0c46">3.1. Simscape files for identification</a></li>
<li><a href="#org8110e77">3.2. Inputs</a>
<li><a href="#orgb12490c">3.1. Simscape files for identification</a></li>
<li><a href="#orgb836c01">3.2. Inputs</a>
<ul>
<li><a href="#org20accd3">3.2.1. Perturbations</a></li>
<li><a href="#org250d2cd">3.2.2. Measurement Noise</a></li>
<li><a href="#org8ebaf8b">3.2.3. Control Inputs</a></li>
<li><a href="#orgf1bf5dd">3.2.1. Perturbations</a></li>
<li><a href="#org0810896">3.2.2. Measurement Noise</a></li>
<li><a href="#org5c2d540">3.2.3. Control Inputs</a></li>
</ul>
</li>
<li><a href="#orgdd1e381">3.3. Outputs</a></li>
<li><a href="#org6e0a79a">3.3. Outputs</a></li>
</ul>
</li>
<li><a href="#orgce45fdc">4. Simulink files</a></li>
<li><a href="#org35afb3e">5. Simulink Library</a>
<li><a href="#orgd49784d">4. Simulink files</a></li>
<li><a href="#orgc98892e">5. Simulink Library</a>
<ul>
<li><a href="#org3b81522">5.1. inputs</a></li>
<li><a href="#org2e62458">5.2. nass<sub>library</sub></a></li>
<li><a href="#org4592162">5.3. pos<sub>error</sub><sub>wrt</sub><sub>nass</sub><sub>base</sub></a></li>
<li><a href="#orgfef0294">5.4. QuaternionToAngles</a></li>
<li><a href="#org9ee7350">5.5. RotationMatrixToAngle</a></li>
<li><a href="#orgb55d4ab">5.1. inputs</a></li>
<li><a href="#org41c1e10">5.2. nass<sub>library</sub></a></li>
<li><a href="#orgded2da1">5.3. pos<sub>error</sub><sub>wrt</sub><sub>nass</sub><sub>base</sub></a></li>
<li><a href="#org7c4f21d">5.4. QuaternionToAngles</a></li>
<li><a href="#org9c713f6">5.5. RotationMatrixToAngle</a></li>
</ul>
</li>
<li><a href="#org6a9cdc6">6. Scripts</a>
<li><a href="#org3048f9a">6. Scripts</a>
<ul>
<li><a href="#org9f215f0">6.1. Simulation Initialization</a></li>
<li><a href="#orgff52b6c">6.1. Simulation Initialization</a></li>
</ul>
</li>
<li><a href="#orgdd5b11a">7. Functions</a>
<li><a href="#org28ec0bd">7. Functions</a>
<ul>
<li><a href="#orgb083f84">7.1. computePsdDispl</a></li>
<li><a href="#orgd7d21da">7.2. computeSetpoint</a></li>
<li><a href="#org2ccb600">7.3. converErrorBasis</a></li>
<li><a href="#orgba91549">7.4. generateDiagPidControl</a></li>
<li><a href="#orgb444802">7.5. identifyPlant</a></li>
<li><a href="#org560b5ac">7.6. runSimulation</a></li>
<li><a href="#org0dfda5a">7.1. computePsdDispl</a></li>
<li><a href="#org553eea9">7.2. computeSetpoint</a></li>
<li><a href="#org786af26">7.3. converErrorBasis</a></li>
<li><a href="#org9ea9883">7.4. generateDiagPidControl</a></li>
<li><a href="#org219d806">7.5. identifyPlant</a></li>
<li><a href="#orgffb2167">7.6. runSimulation</a></li>
</ul>
</li>
<li><a href="#orga41103e">8. Initialize Elements</a>
<li><a href="#orgcee9dda">8. Initialize Elements</a>
<ul>
<li><a href="#org19ab520">8.1. Simulation Configuration</a></li>
<li><a href="#org97baa7d">8.2. Experiment</a></li>
<li><a href="#org1a1b2ea">8.3. Inputs</a></li>
<li><a href="#org349675b">8.4. Ground</a></li>
<li><a href="#orgf88a64c">8.5. Granite</a></li>
<li><a href="#org4e944ba">8.6. Translation Stage</a></li>
<li><a href="#org1b5749b">8.7. Tilt Stage</a></li>
<li><a href="#org013488a">8.8. Spindle</a></li>
<li><a href="#org57a0c6b">8.9. Micro Hexapod</a></li>
<li><a href="#org5e378e9">8.10. Center of gravity compensation</a></li>
<li><a href="#org736e9aa">8.11. Mirror</a></li>
<li><a href="#orge518bd0">8.12. Nano Hexapod</a></li>
<li><a href="#org2d2670c">8.13. Sample</a></li>
<li><a href="#org870f9ac">8.1. Simulation Configuration</a></li>
<li><a href="#orge30fdf8">8.2. Experiment</a></li>
<li><a href="#orgab84833">8.3. Inputs</a></li>
<li><a href="#org103cc41">8.4. Ground</a></li>
<li><a href="#org6619477">8.5. Granite</a></li>
<li><a href="#org77a28f7">8.6. Translation Stage</a></li>
<li><a href="#orge78d8a3">8.7. Tilt Stage</a></li>
<li><a href="#org567c23d">8.8. Spindle</a></li>
<li><a href="#orgc032b1e">8.9. Micro Hexapod</a></li>
<li><a href="#org3b5edf8">8.10. Center of gravity compensation</a></li>
<li><a href="#orgf300722">8.11. Mirror</a></li>
<li><a href="#orgf57d858">8.12. Nano Hexapod</a></li>
<li><a href="#org2e21283">8.13. Sample</a></li>
</ul>
</li>
</ul>
@@ -337,10 +337,11 @@ for the JavaScript code in this tag.
<li><a href="hac_lac/index.html">HAC LAC</a></li>
<li><a href="kinematics/index.html">Kinematics</a></li>
<li><a href="modal_test/index.html">Modal Analysis</a></li>
<li><a href="cedrat-actuator/index.html">Cedrat Piezo Actuator</a></li>
</ul>
<div id="outline-container-orgd5f16ac" class="outline-2">
<h2 id="orgd5f16ac"><span class="section-number-2">1</span> Simulink project</h2>
<div id="outline-container-org6af5373" class="outline-2">
<h2 id="org6af5373"><span class="section-number-2">1</span> Simulink project</h2>
<div class="outline-text-2" id="text-1">
<p>
From the <a href="https://mathworks.com/products/simulink/projects.html">Simulink project</a> mathworks page:
@@ -405,8 +406,8 @@ The project also permits to automatically add defined folder to the path when th
</div>
</div>
<div id="outline-container-org56e7a51" class="outline-2">
<h2 id="org56e7a51"><span class="section-number-2">2</span> Simscape Model</h2>
<div id="outline-container-org2e621fc" class="outline-2">
<h2 id="org2e621fc"><span class="section-number-2">2</span> Simscape Model</h2>
<div class="outline-text-2" id="text-2">
<p>
A <a href="https://.mathworks.com/products/simscape.html">simscape</a> model permits to model multi-physics systems.
@@ -417,8 +418,8 @@ A <a href="https://.mathworks.com/products/simscape.html">simscape</a> model per
</p>
</div>
<div id="outline-container-org82961d5" class="outline-3">
<h3 id="org82961d5"><span class="section-number-3">2.1</span> Solid bodies</h3>
<div id="outline-container-orga525a01" class="outline-3">
<h3 id="orga525a01"><span class="section-number-3">2.1</span> Solid bodies</h3>
<div class="outline-text-3" id="text-2-1">
<p>
Each solid body is represented by a <a href="https://mathworks.com/help/physmod/sm/ref/solid.html">solid block</a>.
@@ -427,8 +428,8 @@ The geometry of the solid body can be imported using a <code>step</code> file. T
</div>
</div>
<div id="outline-container-orga42124d" class="outline-3">
<h3 id="orga42124d"><span class="section-number-3">2.2</span> Frames</h3>
<div id="outline-container-orgfcbb75d" class="outline-3">
<h3 id="orgfcbb75d"><span class="section-number-3">2.2</span> Frames</h3>
<div class="outline-text-3" id="text-2-2">
<p>
Frames are very important in simscape multibody, they defined where the forces are applied, where the joints are located and where the measurements are made.
@@ -440,8 +441,8 @@ They can be defined from the solid body geometry, or using the <a href="https://
</div>
</div>
<div id="outline-container-orge055114" class="outline-3">
<h3 id="orge055114"><span class="section-number-3">2.3</span> Joints</h3>
<div id="outline-container-orga9f9a27" class="outline-3">
<h3 id="orga9f9a27"><span class="section-number-3">2.3</span> Joints</h3>
<div class="outline-text-3" id="text-2-3">
<p>
Solid Bodies are connected with joints (between frames of the two solid bodies).
@@ -451,7 +452,7 @@ Solid Bodies are connected with joints (between frames of the two solid bodies).
There are various types of joints that are all described <a href="https://mathworks.com/help/physmod/sm/ug/joints.html">here</a>.
</p>
<table id="org689a1a2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="orgbcf1bb7" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Degrees of freedom associated with each joint</caption>
<colgroup>
@@ -584,7 +585,7 @@ Joint blocks are assortments of joint primitives:
<li><b>Constant Velocity</b>: Allows rotation at constant velocity between intersection through arbitrarily aligned shafts: <code>CV</code></li>
</ul>
<table id="org85b64fc" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="orgcdffc88" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Joint primitives for each joint type</caption>
<colgroup>
@@ -876,8 +877,8 @@ Composite Force/Torque sensing:
</div>
</div>
<div id="outline-container-org47e566a" class="outline-3">
<h3 id="org47e566a"><span class="section-number-3">2.4</span> Measurements</h3>
<div id="outline-container-org09ee778" class="outline-3">
<h3 id="org09ee778"><span class="section-number-3">2.4</span> Measurements</h3>
<div class="outline-text-3" id="text-2-4">
<p>
A transform sensor block measures the spatial relationship between two frames: the base <code>B</code> and the follower <code>F</code>.
@@ -901,8 +902,8 @@ If we want to simulate an <b>inertial sensor</b>, we just have to choose <code>B
</div>
</div>
<div id="outline-container-org5a09b26" class="outline-3">
<h3 id="org5a09b26"><span class="section-number-3">2.5</span> Excitation</h3>
<div id="outline-container-org318de2c" class="outline-3">
<h3 id="org318de2c"><span class="section-number-3">2.5</span> Excitation</h3>
<div class="outline-text-3" id="text-2-5">
<p>
We can apply <b>external forces</b> to the model by using an <a href="https://mathworks.com/help/physmod/sm/ref/externalforceandtorque.html">external force and torque block</a>.
@@ -915,12 +916,12 @@ Internal force, acting reciprocally between base and following origins is implem
</div>
</div>
<div id="outline-container-org51638cf" class="outline-2">
<h2 id="org51638cf"><span class="section-number-2">3</span> Notes</h2>
<div id="outline-container-orgc7f7e1c" class="outline-2">
<h2 id="orgc7f7e1c"><span class="section-number-2">3</span> Notes</h2>
<div class="outline-text-2" id="text-3">
</div>
<div id="outline-container-orga5a0c46" class="outline-3">
<h3 id="orga5a0c46"><span class="section-number-3">3.1</span> Simscape files for identification</h3>
<div id="outline-container-orgb12490c" class="outline-3">
<h3 id="orgb12490c"><span class="section-number-3">3.1</span> Simscape files for identification</h3>
<div class="outline-text-3" id="text-3-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@@ -989,12 +990,12 @@ Internal force, acting reciprocally between base and following origins is implem
</div>
</div>
<div id="outline-container-org8110e77" class="outline-3">
<h3 id="org8110e77"><span class="section-number-3">3.2</span> Inputs</h3>
<div id="outline-container-orgb836c01" class="outline-3">
<h3 id="orgb836c01"><span class="section-number-3">3.2</span> Inputs</h3>
<div class="outline-text-3" id="text-3-2">
</div>
<div id="outline-container-org20accd3" class="outline-4">
<h4 id="org20accd3"><span class="section-number-4">3.2.1</span> Perturbations</h4>
<div id="outline-container-orgf1bf5dd" class="outline-4">
<h4 id="orgf1bf5dd"><span class="section-number-4">3.2.1</span> Perturbations</h4>
<div class="outline-text-4" id="text-3-2-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@@ -1042,8 +1043,8 @@ Internal force, acting reciprocally between base and following origins is implem
</div>
</div>
<div id="outline-container-org250d2cd" class="outline-4">
<h4 id="org250d2cd"><span class="section-number-4">3.2.2</span> Measurement Noise</h4>
<div id="outline-container-org0810896" class="outline-4">
<h4 id="org0810896"><span class="section-number-4">3.2.2</span> Measurement Noise</h4>
<div class="outline-text-4" id="text-3-2-2">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@@ -1077,8 +1078,8 @@ Internal force, acting reciprocally between base and following origins is implem
</div>
</div>
<div id="outline-container-org8ebaf8b" class="outline-4">
<h4 id="org8ebaf8b"><span class="section-number-4">3.2.3</span> Control Inputs</h4>
<div id="outline-container-org5c2d540" class="outline-4">
<h4 id="org5c2d540"><span class="section-number-4">3.2.3</span> Control Inputs</h4>
<div class="outline-text-4" id="text-3-2-3">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@@ -1202,8 +1203,8 @@ Internal force, acting reciprocally between base and following origins is implem
</div>
</div>
<div id="outline-container-orgdd1e381" class="outline-3">
<h3 id="orgdd1e381"><span class="section-number-3">3.3</span> Outputs</h3>
<div id="outline-container-org6e0a79a" class="outline-3">
<h3 id="org6e0a79a"><span class="section-number-3">3.3</span> Outputs</h3>
<div class="outline-text-3" id="text-3-3">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@@ -1321,8 +1322,8 @@ Internal force, acting reciprocally between base and following origins is implem
</div>
</div>
<div id="outline-container-orgce45fdc" class="outline-2">
<h2 id="orgce45fdc"><span class="section-number-2">4</span> Simulink files</h2>
<div id="outline-container-orgd49784d" class="outline-2">
<h2 id="orgd49784d"><span class="section-number-2">4</span> Simulink files</h2>
<div class="outline-text-2" id="text-4">
<p>
Few different Simulink files are used:
@@ -1336,44 +1337,44 @@ Few different Simulink files are used:
</div>
</div>
<div id="outline-container-org35afb3e" class="outline-2">
<h2 id="org35afb3e"><span class="section-number-2">5</span> Simulink Library</h2>
<div id="outline-container-orgc98892e" class="outline-2">
<h2 id="orgc98892e"><span class="section-number-2">5</span> Simulink Library</h2>
<div class="outline-text-2" id="text-5">
<p>
A simulink library is developed in order to share elements between the different simulink files.
</p>
</div>
<div id="outline-container-org3b81522" class="outline-3">
<h3 id="org3b81522"><span class="section-number-3">5.1</span> inputs</h3>
<div id="outline-container-orgb55d4ab" class="outline-3">
<h3 id="orgb55d4ab"><span class="section-number-3">5.1</span> inputs</h3>
</div>
<div id="outline-container-org2e62458" class="outline-3">
<h3 id="org2e62458"><span class="section-number-3">5.2</span> nass<sub>library</sub></h3>
<div id="outline-container-org41c1e10" class="outline-3">
<h3 id="org41c1e10"><span class="section-number-3">5.2</span> nass<sub>library</sub></h3>
</div>
<div id="outline-container-org4592162" class="outline-3">
<h3 id="org4592162"><span class="section-number-3">5.3</span> pos<sub>error</sub><sub>wrt</sub><sub>nass</sub><sub>base</sub></h3>
<div id="outline-container-orgded2da1" class="outline-3">
<h3 id="orgded2da1"><span class="section-number-3">5.3</span> pos<sub>error</sub><sub>wrt</sub><sub>nass</sub><sub>base</sub></h3>
</div>
<div id="outline-container-orgfef0294" class="outline-3">
<h3 id="orgfef0294"><span class="section-number-3">5.4</span> QuaternionToAngles</h3>
<div id="outline-container-org7c4f21d" class="outline-3">
<h3 id="org7c4f21d"><span class="section-number-3">5.4</span> QuaternionToAngles</h3>
</div>
<div id="outline-container-org9ee7350" class="outline-3">
<h3 id="org9ee7350"><span class="section-number-3">5.5</span> RotationMatrixToAngle</h3>
<div id="outline-container-org9c713f6" class="outline-3">
<h3 id="org9c713f6"><span class="section-number-3">5.5</span> RotationMatrixToAngle</h3>
</div>
</div>
<div id="outline-container-org6a9cdc6" class="outline-2">
<h2 id="org6a9cdc6"><span class="section-number-2">6</span> Scripts</h2>
<div id="outline-container-org3048f9a" class="outline-2">
<h2 id="org3048f9a"><span class="section-number-2">6</span> Scripts</h2>
<div class="outline-text-2" id="text-6">
</div>
<div id="outline-container-org9f215f0" class="outline-3">
<h3 id="org9f215f0"><span class="section-number-3">6.1</span> Simulation Initialization</h3>
<div id="outline-container-orgff52b6c" class="outline-3">
<h3 id="orgff52b6c"><span class="section-number-3">6.1</span> Simulation Initialization</h3>
<div class="outline-text-3" id="text-6-1">
<p>
<a id="orgd49f9d3"></a>
<a id="org1cdf096"></a>
</p>
<p>
@@ -1397,15 +1398,15 @@ load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string
</div>
</div>
<div id="outline-container-orgdd5b11a" class="outline-2">
<h2 id="orgdd5b11a"><span class="section-number-2">7</span> Functions</h2>
<div id="outline-container-org28ec0bd" class="outline-2">
<h2 id="org28ec0bd"><span class="section-number-2">7</span> Functions</h2>
<div class="outline-text-2" id="text-7">
</div>
<div id="outline-container-orgb083f84" class="outline-3">
<h3 id="orgb083f84"><span class="section-number-3">7.1</span> computePsdDispl</h3>
<div id="outline-container-org0dfda5a" class="outline-3">
<h3 id="org0dfda5a"><span class="section-number-3">7.1</span> computePsdDispl</h3>
<div class="outline-text-3" id="text-7-1">
<p>
<a id="orgd3a1da9"></a>
<a id="orgb5eb383"></a>
</p>
<p>
@@ -1440,11 +1441,11 @@ This Matlab function is accessible <a href="src/computePsdDispl.m">here</a>.
</div>
</div>
</div>
<div id="outline-container-orgd7d21da" class="outline-3">
<h3 id="orgd7d21da"><span class="section-number-3">7.2</span> computeSetpoint</h3>
<div id="outline-container-org553eea9" class="outline-3">
<h3 id="org553eea9"><span class="section-number-3">7.2</span> computeSetpoint</h3>
<div class="outline-text-3" id="text-7-2">
<p>
<a id="orgcc44bdf"></a>
<a id="orgd3c6bc1"></a>
</p>
<p>
@@ -1515,11 +1516,11 @@ setpoint<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-hi
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<div id="outline-container-org2ccb600" class="outline-3">
<h3 id="org2ccb600"><span class="section-number-3">7.3</span> converErrorBasis</h3>
<div id="outline-container-org786af26" class="outline-3">
<h3 id="org786af26"><span class="section-number-3">7.3</span> converErrorBasis</h3>
<div class="outline-text-3" id="text-7-3">
<p>
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@@ -1656,11 +1657,11 @@ error_nass = <span class="org-rainbow-delimiters-depth-1">[</span>dx; dy; dz; th
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<div id="outline-container-orgba91549" class="outline-3">
<h3 id="orgba91549"><span class="section-number-3">7.4</span> generateDiagPidControl</h3>
<div id="outline-container-org9ea9883" class="outline-3">
<h3 id="org9ea9883"><span class="section-number-3">7.4</span> generateDiagPidControl</h3>
<div class="outline-text-3" id="text-7-4">
<p>
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<a id="orgdff51b6"></a>
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@@ -1690,11 +1691,11 @@ This Matlab function is accessible <a href="src/generateDiagPidControl.m">here</
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<div id="outline-container-orgb444802" class="outline-3">
<h3 id="orgb444802"><span class="section-number-3">7.5</span> identifyPlant</h3>
<div id="outline-container-org219d806" class="outline-3">
<h3 id="org219d806"><span class="section-number-3">7.5</span> identifyPlant</h3>
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<p>
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<p>
@@ -1759,11 +1760,11 @@ This Matlab function is accessible <a href="src/identifyPlant.m">here</a>.
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<div id="outline-container-org560b5ac" class="outline-3">
<h3 id="org560b5ac"><span class="section-number-3">7.6</span> runSimulation</h3>
<div id="outline-container-orgffb2167" class="outline-3">
<h3 id="orgffb2167"><span class="section-number-3">7.6</span> runSimulation</h3>
<div class="outline-text-3" id="text-7-6">
<p>
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@@ -1832,15 +1833,15 @@ This Matlab function is accessible <a href="src/runSimulation.m">here</a>.
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<div id="outline-container-orga41103e" class="outline-2">
<h2 id="orga41103e"><span class="section-number-2">8</span> Initialize Elements</h2>
<div id="outline-container-orgcee9dda" class="outline-2">
<h2 id="orgcee9dda"><span class="section-number-2">8</span> Initialize Elements</h2>
<div class="outline-text-2" id="text-8">
</div>
<div id="outline-container-org19ab520" class="outline-3">
<h3 id="org19ab520"><span class="section-number-3">8.1</span> Simulation Configuration</h3>
<div id="outline-container-org870f9ac" class="outline-3">
<h3 id="org870f9ac"><span class="section-number-3">8.1</span> Simulation Configuration</h3>
<div class="outline-text-3" id="text-8-1">
<p>
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<p>
@@ -1886,11 +1887,11 @@ This Matlab function is accessible <a href="src/initializeSimConf.m">here</a>.
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</div>
<div id="outline-container-org97baa7d" class="outline-3">
<h3 id="org97baa7d"><span class="section-number-3">8.2</span> Experiment</h3>
<div id="outline-container-orge30fdf8" class="outline-3">
<h3 id="orge30fdf8"><span class="section-number-3">8.2</span> Experiment</h3>
<div class="outline-text-3" id="text-8-2">
<p>
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<p>
@@ -1930,11 +1931,11 @@ This Matlab function is accessible <a href="src/initializeExperiment.m">here</a>
</div>
</div>
<div id="outline-container-org1a1b2ea" class="outline-3">
<h3 id="org1a1b2ea"><span class="section-number-3">8.3</span> Inputs</h3>
<div id="outline-container-orgab84833" class="outline-3">
<h3 id="orgab84833"><span class="section-number-3">8.3</span> Inputs</h3>
<div class="outline-text-3" id="text-8-3">
<p>
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<p>
@@ -2122,11 +2123,11 @@ This Matlab function is accessible <a href="src/initializeInputs.m">here</a>.
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</div>
<div id="outline-container-org349675b" class="outline-3">
<h3 id="org349675b"><span class="section-number-3">8.4</span> Ground</h3>
<div id="outline-container-org103cc41" class="outline-3">
<h3 id="org103cc41"><span class="section-number-3">8.4</span> Ground</h3>
<div class="outline-text-3" id="text-8-4">
<p>
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<p>
@@ -2150,11 +2151,11 @@ This Matlab function is accessible <a href="src/initializeGround.m">here</a>.
</div>
</div>
<div id="outline-container-orgf88a64c" class="outline-3">
<h3 id="orgf88a64c"><span class="section-number-3">8.5</span> Granite</h3>
<div id="outline-container-org6619477" class="outline-3">
<h3 id="org6619477"><span class="section-number-3">8.5</span> Granite</h3>
<div class="outline-text-3" id="text-8-5">
<p>
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<p>
@@ -2194,11 +2195,11 @@ This Matlab function is accessible <a href="src/initializeGranite.m">here</a>.
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</div>
<div id="outline-container-org4e944ba" class="outline-3">
<h3 id="org4e944ba"><span class="section-number-3">8.6</span> Translation Stage</h3>
<div id="outline-container-org77a28f7" class="outline-3">
<h3 id="org77a28f7"><span class="section-number-3">8.6</span> Translation Stage</h3>
<div class="outline-text-3" id="text-8-6">
<p>
<a id="orgef84318"></a>
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<p>
@@ -2279,11 +2280,11 @@ This Matlab function is accessible <a href="src/initializeTy.m">here</a>.
</div>
</div>
<div id="outline-container-org1b5749b" class="outline-3">
<h3 id="org1b5749b"><span class="section-number-3">8.7</span> Tilt Stage</h3>
<div id="outline-container-orge78d8a3" class="outline-3">
<h3 id="orge78d8a3"><span class="section-number-3">8.7</span> Tilt Stage</h3>
<div class="outline-text-3" id="text-8-7">
<p>
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<p>
@@ -2352,11 +2353,11 @@ This Matlab function is accessible <a href="src/initializeRy.m">here</a>.
</div>
</div>
<div id="outline-container-org013488a" class="outline-3">
<h3 id="org013488a"><span class="section-number-3">8.8</span> Spindle</h3>
<div id="outline-container-org567c23d" class="outline-3">
<h3 id="org567c23d"><span class="section-number-3">8.8</span> Spindle</h3>
<div class="outline-text-3" id="text-8-8">
<p>
<a id="orgf0294ef"></a>
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<p>
@@ -2421,11 +2422,11 @@ This Matlab function is accessible <a href="src/initializeRz.m">here</a>.
</div>
</div>
<div id="outline-container-org57a0c6b" class="outline-3">
<h3 id="org57a0c6b"><span class="section-number-3">8.9</span> Micro Hexapod</h3>
<div id="outline-container-orgc032b1e" class="outline-3">
<h3 id="orgc032b1e"><span class="section-number-3">8.9</span> Micro Hexapod</h3>
<div class="outline-text-3" id="text-8-9">
<p>
<a id="org179b1f0"></a>
<a id="orgbd011a3"></a>
</p>
<p>
@@ -2631,11 +2632,11 @@ This Matlab function is accessible <a href="src/initializeMicroHexapod.m">here</
</div>
</div>
<div id="outline-container-org5e378e9" class="outline-3">
<h3 id="org5e378e9"><span class="section-number-3">8.10</span> Center of gravity compensation</h3>
<div id="outline-container-org3b5edf8" class="outline-3">
<h3 id="org3b5edf8"><span class="section-number-3">8.10</span> Center of gravity compensation</h3>
<div class="outline-text-3" id="text-8-10">
<p>
<a id="orgbd4fe61"></a>
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</p>
<p>
@@ -2678,11 +2679,11 @@ This Matlab function is accessible <a href="src/initializeAxisc.m">here</a>.
</div>
</div>
</div>
<div id="outline-container-org736e9aa" class="outline-3">
<h3 id="org736e9aa"><span class="section-number-3">8.11</span> Mirror</h3>
<div id="outline-container-orgf300722" class="outline-3">
<h3 id="orgf300722"><span class="section-number-3">8.11</span> Mirror</h3>
<div class="outline-text-3" id="text-8-11">
<p>
<a id="orgba578b7"></a>
<a id="orgb5894e5"></a>
</p>
<p>
@@ -2748,11 +2749,11 @@ This Matlab function is accessible <a href="src/initializeMirror.m">here</a>.
</div>
</div>
<div id="outline-container-orge518bd0" class="outline-3">
<h3 id="orge518bd0"><span class="section-number-3">8.12</span> Nano Hexapod</h3>
<div id="outline-container-orgf57d858" class="outline-3">
<h3 id="orgf57d858"><span class="section-number-3">8.12</span> Nano Hexapod</h3>
<div class="outline-text-3" id="text-8-12">
<p>
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<a id="org9b0c46a"></a>
</p>
<p>
@@ -2965,11 +2966,11 @@ This Matlab function is accessible <a href="src/initializeNanoHexapod.m">here</a
</div>
</div>
<div id="outline-container-org2d2670c" class="outline-3">
<h3 id="org2d2670c"><span class="section-number-3">8.13</span> Sample</h3>
<div id="outline-container-org2e21283" class="outline-3">
<h3 id="org2e21283"><span class="section-number-3">8.13</span> Sample</h3>
<div class="outline-text-3" id="text-8-13">
<p>
<a id="org1911a0c"></a>
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</p>
<p>
@@ -3014,7 +3015,7 @@ This Matlab function is accessible <a href="src/initializeSample.m">here</a>.
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-10-24 jeu. 17:45</p>
<p class="date">Created: 2019-10-29 mar. 10:52</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
</body>