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Thomas Dehaeze
2020-02-25 18:21:17 +01:00
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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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>Tomography Experiment</title>
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.org-svg { width: 90%; }
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</style>
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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/*
@licstart The following is the entire license notice for the
@@ -251,9 +250,9 @@ for the JavaScript code in this tag.
</head>
<body>
<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
<a accesskey="h" href="./index.html"> UP </a>
|
<a accesskey="H" href="../index.html"> HOME </a>
<a accesskey="H" href="./index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Tomography Experiment</h1>
<div id="table-of-contents">
@@ -263,30 +262,30 @@ for the JavaScript code in this tag.
<li><a href="#org03b2a76">1. Simscape Model</a></li>
<li><a href="#org6ed78a0">2. Tomography Experiment with no disturbances</a>
<ul>
<li><a href="#orgc1321b7">2.1. Simulation Setup</a></li>
<li><a href="#orgebeb6c3">2.2. Analysis</a></li>
<li><a href="#orge9a06c9">2.3. Conclusion</a></li>
<li><a href="#org5778305">2.1. Simulation Setup</a></li>
<li><a href="#org3f73a44">2.2. Analysis</a></li>
<li><a href="#org67ff024">2.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org16d8e58">3. Tomography Experiment with included perturbations</a>
<ul>
<li><a href="#orgc6ab502">3.1. Simulation Setup</a></li>
<li><a href="#orga551571">3.2. Analysis</a></li>
<li><a href="#org3eee8bd">3.3. Conclusion</a></li>
<li><a href="#orgc064b4d">3.1. Simulation Setup</a></li>
<li><a href="#org35d72fe">3.2. Analysis</a></li>
<li><a href="#org1f14bc2">3.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org72f01ab">4. Tomography when the micro-hexapod is not centered</a>
<ul>
<li><a href="#orga42880e">4.1. Simulation Setup</a></li>
<li><a href="#org58e1909">4.2. Analysis</a></li>
<li><a href="#org4670aba">4.3. Conclusion</a></li>
<li><a href="#org0fe7352">4.1. Simulation Setup</a></li>
<li><a href="#org3fda1a5">4.2. Analysis</a></li>
<li><a href="#org5042570">4.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#org8fa1632">5. Raster Scans with the translation stage</a>
<ul>
<li><a href="#org5778305">5.1. Simulation Setup</a></li>
<li><a href="#org3f73a44">5.2. Analysis</a></li>
<li><a href="#org67ff024">5.3. Conclusion</a></li>
<li><a href="#org8a2f4a2">5.1. Simulation Setup</a></li>
<li><a href="#org55d191f">5.2. Analysis</a></li>
<li><a href="#orgae2c5b3">5.3. Conclusion</a></li>
</ul>
</li>
</ul>
@@ -373,8 +372,8 @@ All stage is set to its zero position except the Spindle which is rotating at 60
<a id="org3effbb8"></a>
</p>
</div>
<div id="outline-container-orgc1321b7" class="outline-3">
<h3 id="orgc1321b7"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div id="outline-container-org5778305" class="outline-3">
<h3 id="org5778305"><span class="section-number-3">2.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-2-1">
<p>
And we initialize the disturbances to be equal to zero.
@@ -410,8 +409,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
</div>
</div>
<div id="outline-container-orgebeb6c3" class="outline-3">
<h3 id="orgebeb6c3"><span class="section-number-3">2.2</span> Analysis</h3>
<div id="outline-container-org3f73a44" class="outline-3">
<h3 id="org3f73a44"><span class="section-number-3">2.2</span> Analysis</h3>
<div class="outline-text-3" id="text-2-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_no_dist'</span>);
@@ -447,8 +446,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-orge9a06c9" class="outline-3">
<h3 id="orge9a06c9"><span class="section-number-3">2.3</span> Conclusion</h3>
<div id="outline-container-org67ff024" class="outline-3">
<h3 id="org67ff024"><span class="section-number-3">2.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-3">
<div class="important">
<p>
@@ -468,8 +467,8 @@ This residual error motion probably comes from a small misalignment somewhere.
<a id="org4e7f626"></a>
</p>
</div>
<div id="outline-container-orgc6ab502" class="outline-3">
<h3 id="orgc6ab502"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div id="outline-container-orgc064b4d" class="outline-3">
<h3 id="orgc064b4d"><span class="section-number-3">3.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We now activate the disturbances.
@@ -505,8 +504,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
</div>
</div>
<div id="outline-container-orga551571" class="outline-3">
<h3 id="orga551571"><span class="section-number-3">3.2</span> Analysis</h3>
<div id="outline-container-org35d72fe" class="outline-3">
<h3 id="org35d72fe"><span class="section-number-3">3.2</span> Analysis</h3>
<div class="outline-text-3" id="text-3-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_align_dist'</span>);
@@ -542,8 +541,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-org3eee8bd" class="outline-3">
<h3 id="org3eee8bd"><span class="section-number-3">3.3</span> Conclusion</h3>
<div id="outline-container-org1f14bc2" class="outline-3">
<h3 id="org1f14bc2"><span class="section-number-3">3.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-3">
<div class="important">
<p>
@@ -562,8 +561,8 @@ Error motion is what expected from the disturbance measurements.
<a id="orgb31e3fb"></a>
</p>
</div>
<div id="outline-container-orga42880e" class="outline-3">
<h3 id="orga42880e"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div id="outline-container-org0fe7352" class="outline-3">
<h3 id="org0fe7352"><span class="section-number-3">4.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-4-1">
<p>
We first set the wanted translation of the Micro Hexapod.
@@ -623,8 +622,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
</div>
</div>
<div id="outline-container-org58e1909" class="outline-3">
<h3 id="org58e1909"><span class="section-number-3">4.2</span> Analysis</h3>
<div id="outline-container-org3fda1a5" class="outline-3">
<h3 id="org3fda1a5"><span class="section-number-3">4.2</span> Analysis</h3>
<div class="outline-text-3" id="text-4-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'tomo_not_align'</span>);
@@ -660,8 +659,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-org4670aba" class="outline-3">
<h3 id="org4670aba"><span class="section-number-3">4.3</span> Conclusion</h3>
<div id="outline-container-org5042570" class="outline-3">
<h3 id="org5042570"><span class="section-number-3">4.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-4-3">
<div class="important">
<p>
@@ -680,8 +679,8 @@ The main motions are translations in the X direction of the mobile platform (cor
<a id="org6aaeb53"></a>
</p>
</div>
<div id="outline-container-org5778305" class="outline-3">
<h3 id="org5778305"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div id="outline-container-org8a2f4a2" class="outline-3">
<h3 id="org8a2f4a2"><span class="section-number-3">5.1</span> Simulation Setup</h3>
<div class="outline-text-3" id="text-5-1">
<p>
We set the reference path.
@@ -742,8 +741,8 @@ save(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>,
</div>
</div>
<div id="outline-container-org3f73a44" class="outline-3">
<h3 id="org3f73a44"><span class="section-number-3">5.2</span> Analysis</h3>
<div id="outline-container-org55d191f" class="outline-3">
<h3 id="org55d191f"><span class="section-number-3">5.2</span> Analysis</h3>
<div class="outline-text-3" id="text-5-2">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'experiment_tomography/mat/experiment.mat'</span>, <span class="org-string">'ty_scan'</span>);
@@ -779,8 +778,8 @@ Erz = atan2(<span class="org-type">-</span>squeeze(MTr(1, 2, <span class="org-ty
</div>
</div>
<div id="outline-container-org67ff024" class="outline-3">
<h3 id="org67ff024"><span class="section-number-3">5.3</span> Conclusion</h3>
<div id="outline-container-orgae2c5b3" class="outline-3">
<h3 id="orgae2c5b3"><span class="section-number-3">5.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-5-3">
<div class="important">
<p>
@@ -795,7 +794,7 @@ In order to reduce the errors, we can make a smoother reference path for the tra
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-25 mar. 18:08</p>
<p class="date">Created: 2020-02-25 mar. 18:21</p>
</div>
</body>
</html>