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correct one plot

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Thomas Dehaeze 2020-04-05 15:15:32 +02:00
parent a581bc9dbd
commit 78c8b79399
3 changed files with 4 additions and 2 deletions
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docs/figs/opt_stiffness_wz_fx_dx.pdf
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org/compensation_gravity_forces.org
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@ -317,5 +317,7 @@ Verification that nothing is moving
#+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 * Conclusion
#+begin_important
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 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. 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.
#+end_important