The system is now quite well tuned
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@ -385,6 +385,29 @@ initializeAxisc();
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#+end_src
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#+end_src
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** Bis
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** Bis
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#+begin_src matlab :results none
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%% Initialize Ground
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initializeGround();
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%% Initialize Granite
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initializeGranite(struct('rigid', false));
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%% Initialize Translation stage
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initializeTy(struct('rigid', false));
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%% Initialize Tilt Stage
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initializeRy(struct('rigid', false));
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%% Initialize Spindle
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initializeRz(struct('rigid', false));
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%% Initialize Hexapod Symétrie
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initializeMicroHexapod(struct('rigid', false));
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%% Initialize Center of gravity compensation
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initializeAxisc();
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#+end_src
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For Granite Fx to Tx/Ty/Tz/Rx/Ry/Rz
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For Granite Fx to Tx/Ty/Tz/Rx/Ry/Rz
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#+begin_src matlab
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#+begin_src matlab
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dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
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dirs = {'x', 'y', 'z', 'rx', 'ry', 'rz'};
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@ -1069,7 +1069,7 @@ end
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This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
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This Matlab function is accessible [[file:../src/initializeGranite.m][here]].
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#+begin_src matlab
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#+begin_src matlab
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function [granite] = initializeGranite()
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function [granite] = initializeGranite(opts_param)
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%% Default values for opts
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%% Default values for opts
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opts = struct('rigid', false);
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opts = struct('rigid', false);
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@ -1399,7 +1399,11 @@ This Matlab function is accessible [[file:../src/initializeMicroHexapod.m][here]
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Leg = struct();
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Leg = struct();
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Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
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Leg.stroke = 10e-3; % Maximum Stroke of each leg [m]
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Leg.k.ax = 5e7; % Stiffness of each leg [N/m]
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if opts.rigid
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Leg.k.ax = 1e12; % Stiffness of each leg [N/m]
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else
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Leg.k.ax = 2e7; % Stiffness of each leg [N/m]
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end
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Leg.ksi.ax = 0.1; % Modal damping ksi = 1/2*c/sqrt(km) []
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Leg.ksi.ax = 0.1; % Modal damping ksi = 1/2*c/sqrt(km) []
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Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.bottom = 25; % Radius of the cylinder of the bottom part [mm]
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Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
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Leg.rad.top = 17; % Radius of the cylinder of the top part [mm]
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@ -1585,8 +1589,8 @@ This Matlab function is accessible [[file:../src/initializeAxisc.m][here]].
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axisc.m = 40; % TODO [kg]
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axisc.m = 40; % TODO [kg]
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%% Axis Compensator - Dynamical Properties
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%% Axis Compensator - Dynamical Properties
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axisc.k.ax = 1; % TODO [N*m/deg)]
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% axisc.k.ax = 1; % TODO [N*m/deg)]
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axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m);
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% axisc.c.ax = (1/1)*sqrt(axisc.k.ax/axisc.m);
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%% Save
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%% Save
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save('./mat/stages.mat', 'axisc', '-append');
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save('./mat/stages.mat', 'axisc', '-append');
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