diff --git a/mat/nass_references.mat b/mat/nass_references.mat index 154080e..7bd4d15 100644 Binary files a/mat/nass_references.mat and b/mat/nass_references.mat differ diff --git a/positioning_error/index.html b/positioning_error/index.html index 0b6bf4a..9f107a8 100644 --- a/positioning_error/index.html +++ b/positioning_error/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Computation of the Positioning Error with respect to the nano-hexapod @@ -283,19 +283,19 @@ for the JavaScript code in this tag.

Table of Contents

@@ -303,11 +303,11 @@ for the JavaScript code in this tag.

-The global measurement and control schematic is shown in figure 1. +The global measurement and control schematic is shown in figure 1.

-
+

control-schematic-nass.png

Figure 1: Global Control Schematic for the Station

@@ -329,37 +329,29 @@ Also, all the stages can be perfectly positioned.

-In section 1, we verify that the function developed to compute the wanted pose (translation and orientation) of the sample with respect to the granite can be determined from the wanted position of each stage (translation stage, tilt stage, spindle and micro-hexapod). This corresponds to the bloc "Compute Wanted Sample Position w.r.t. Granite" in figure 1. +In section 1, we verify that the function developed to compute the wanted pose (translation and orientation) of the sample with respect to the granite can be determined from the wanted position of each stage (translation stage, tilt stage, spindle and micro-hexapod). This corresponds to the bloc "Compute Wanted Sample Position w.r.t. Granite" in figure 1. To do so, we impose a perfect displacement and all the stage, we perfectly measure the position of the sample with respect to the granite, and we verify that this measured position corresponds to the computed wanted pose of the sample.

-Then, in section 2, we introduce some positioning error in the micro-station's stages. -The positioning error of the sample expressed with respect to the granite frame (the one measured) is expressed in a frame connected to the NASS top platform (corresponding to the green bloc "Compute Sample Position Error w.r.t. NASS" in figure 1). +Then, in section 2, we introduce some positioning error in the micro-station's stages. +The positioning error of the sample expressed with respect to the granite frame (the one measured) is expressed in a frame connected to the NASS top platform (corresponding to the green bloc "Compute Sample Position Error w.r.t. NASS" in figure 1). Then, we move the NASS such that it compensate for the positioning error that are expressed in the frame of the NASS, and we verify that the positioning error of the sample is well compensated.

-
-

1 Verify that the function to compute the reference pose is correct

+
+

1 Verify that the function to compute the reference pose is correct

- +

The goal here is to perfectly move the station and verify that there is no mismatch between the metrology measurement and the computation of the reference pose.

-
-

1.1 Prepare the Simulation

+
+

1.1 Prepare the Simulation

-

-We load the configuration. -

-
-
load('mat/conf_simscape.mat');
-
-
-

We set a small StopTime.

@@ -409,7 +401,7 @@ We setup the reference path to be constant. ); -initializeReferences(); +initializeReferences(opts);
@@ -436,8 +428,8 @@ And we run the simulation.
-
-

1.2 Verify that the pose of the sample is the same as the computed one

+
+

1.2 Verify that the pose of the sample is the same as the computed one

Let's denote: @@ -501,20 +493,20 @@ WTr( WTr(1:3, 4, end)-WTm(1:3, 4, end) ans = - -8.22065745307538e-15 - -1.74128279577812e-15 - -8.3754490393689e-16 + 8.53830894875784e-15 + -5.58580959264532e-15 + -5.89805981832114e-17 WTr(1:3, 1:3, end)'*WTm(1:3, 1:3, end)-eye(3) ans = - 2.66453525910038e-15 6.12072360433062e-16 2.08519182823275e-16 - -6.12072360433062e-16 2.66453525910038e-15 3.83905507244395e-16 - -2.08519182823275e-16 -3.83905507244395e-16 2.66453525910038e-15 + 1.62092561595273e-14 -1.59832000065641e-14 1.11022302462516e-16 + 1.61295672998496e-14 1.62092561595273e-14 -1.72431513512095e-15 + -1.65492619608187e-15 -9.8879238130678e-16 9.41469124882133e-14

-
-

1.3 Conclusion

+
+

1.3 Conclusion

@@ -527,11 +519,11 @@ Both the measurement and the theory gives the same result.

-
-

2 Verify that the function to convert the position error in the frame fixed to the nano-hexapod is working

+
+

2 Verify that the function to convert the position error in the frame fixed to the nano-hexapod is working

- +

We now introduce some positioning error in the stage. @@ -542,8 +534,8 @@ This will induce a global positioning error of the sample with respect to the de We want to verify that we are able to measure this positioning error and convert it in the frame attached to the Nano-hexapod.

-
-

2.1 Prepare the Simulation

+
+

2.1 Prepare the Simulation

We load the configuration. @@ -625,8 +617,8 @@ And we run the simulation.

-
-

2.2 Compute the wanted pose of the sample in the NASS Base from the metrology and the reference

+
+

2.2 Compute the wanted pose of the sample in the NASS Base from the metrology and the reference

Now that we have introduced some positioning error, the computed wanted pose and the measured pose will not be the same. @@ -761,8 +753,8 @@ Rz = [cos -

2.3 Verify that be imposing the error motion on the nano-hexapod, we indeed have zero error at the end

+
+

2.3 Verify that be imposing the error motion on the nano-hexapod, we indeed have zero error at the end

We now keep the wanted pose but we impose a displacement of the nano hexapod corresponding to the measured position error. @@ -844,20 +836,20 @@ Verify that the pose error is small. Error -1.0e-16 --1.1e-18 -3.3e-20 -1.5e-16 -5.8e-17 --6.1e-16 +2.0e-16 +1.1e-16 +3.2e-18 +-1.1e-17 +1.0e-17 +-9.5e-16

-
-

2.4 Conclusion

+
+

2.4 Conclusion

@@ -871,7 +863,7 @@ Indeed, we are able to convert the position error in the frame of the NASS and t

Author: Dehaeze Thomas

-

Created: 2019-12-12 jeu. 13:46

+

Created: 2019-12-13 ven. 11:05

Validate