Use new argument function validation technique
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@@ -102,13 +102,13 @@ We initialize all the stages.
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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initializeSample(struct('mass', 50));
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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#+end_src
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We setup the reference path to be constant.
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#+begin_src matlab
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opts = struct( ...
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initializeReferences(...
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'Ts', 1e-3, ... % Sampling Frequency [s]
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'Dy_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Dy_amplitude', 5e-3, ... % Amplitude of the displacement [m]
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@@ -125,10 +125,7 @@ We setup the reference path to be constant.
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'Rm_pos', [0, pi]', ... % Initial position of the two masses
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'Dn_type', 'constant', ... % For now, only constant is implemented
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'Dn_pos', [1e-3; 2e-3; 3e-3; 1*pi/180; 0; 1*pi/180] ... % Initial position [m,m,m,rad,rad,rad] of the top platform
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);
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initializeReferences(opts);
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);
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#+end_src
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No position error for now (perfect positioning).
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@@ -253,13 +250,13 @@ We initialize all the stages.
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initializeMicroHexapod();
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initializeAxisc();
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initializeMirror();
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initializeNanoHexapod(struct('actuator', 'piezo'));
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initializeSample(struct('mass', 50));
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initializeNanoHexapod('actuator', 'piezo');
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initializeSample('mass', 50);
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#+end_src
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We setup the reference path to be constant.
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#+begin_src matlab
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opts = struct( ...
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initializeReferences(...
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'Ts', 1e-3, ... % Sampling Frequency [s]
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'Dy_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Dy_amplitude', 0, ... % Amplitude of the displacement [m]
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@@ -273,9 +270,7 @@ We setup the reference path to be constant.
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'Rm_pos', [0, pi]', ... % Initial position of the two masses
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'Dn_type', 'constant', ... % For now, only constant is implemented
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'Dn_pos', [0; 0; 0; 0; 0; 0] ... % Initial position [m,m,m,rad,rad,rad] of the top platform
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);
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initializeReferences(opts);
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);
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#+end_src
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Now we introduce some positioning error.
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@@ -383,8 +378,21 @@ Verify that the pose error corresponds to the positioning error of the stages.
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** Verify that be imposing the error motion on the nano-hexapod, we indeed have zero error at the end
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We now keep the wanted pose but we impose a displacement of the nano hexapod corresponding to the measured position error.
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#+begin_src matlab
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opts.Dn_pos = [Edx, Edy, Edz, Erx, Ery, Erz]';
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initializeReferences(opts);
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initializeReferences(...
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'Ts', 1e-3, ... % Sampling Frequency [s]
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'Dy_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Dy_amplitude', 0, ... % Amplitude of the displacement [m]
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'Ry_type', 'constant', ... % Either "constant" / "triangular" / "sinusoidal"
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'Ry_amplitude', 0, ... % Amplitude [rad]
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'Rz_type', 'constant', ... % Either "constant" / "rotating"
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'Rz_amplitude', 0*pi/180, ... % Initial angle [rad]
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'Dh_type', 'constant', ... % For now, only constant is implemented
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'Dh_pos', [0; 0; 0; 0; 0; 0], ... % Initial position [m,m,m,rad,rad,rad] of the top platform
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'Rm_type', 'constant', ... % For now, only constant is implemented
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'Rm_pos', [0, pi]', ... % Initial position of the two masses
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'Dn_type', 'constant', ... % For now, only constant is implemented
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'Dn_pos', [Edx, Edy, Edz, Erx, Ery, Erz]' ... % Initial position [m,m,m,rad,rad,rad] of the top platform
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);
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#+end_src
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And we run the simulation.
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