Merge remote-tracking branch 'origin/thomas' into adrien

.gitignore

@@ -1 +1,2 @@
-slprj
+slprj
+Assemblage_grt_rtw

Data.m

@@ -27,12 +27,16 @@ ry = updateDamping(ry);
 %% Spindle
 rz = struct();
 rz.m = smiData.Solid(12).mass+6*smiData.Solid(20).mass+smiData.Solid(19).mass;
-rz.k.ax = 2e9/2; %x
-rz.k.rad = 7e8/2; %z
-rz.k.rrad = 7e8/2; %y
+rz.k.ax = 2e9; %x
+rz.k.rad = 7e8; %z
+rz.k.rrad = 7e8; %y
+rz.k.tilt = 1e5;
+rz.k.rot = 1e5;
 rz.ksi.ax = 10;
 rz.ksi.rad = 10;
 rz.ksi.rrad = 10;
+rz.ksi.tilt = 1;
+rz.ksi.rot = 1;
 rz = updateDamping(rz);
 
 %% Hexapod Symétrie
@@ -42,6 +46,13 @@ hexapod.k.ax = (138e6/6)*1.2; %z
 hexapod.ksi.ax = 10;
 hexapod = updateDamping(hexapod);
 
+%% Axis Corrector
+axisc = struct();
+axisc.m = smiData.Solid(30).mass;
+axisc.k.ax = 1; % (N*m/deg))
+axisc.ksi.ax = 1;
+axisc = updateDamping(axisc);
+
 %% NASS
 nass = struct();
 nass.m = smiData.Solid(27).mass;

Rotation_matrix_angles.m

@@ -0,0 +1,3 @@
+thetax=atan2(-R(2,3),R(3,3));
+thetay=atan2(R(1,3),sqrt((R(1,1))^2+(R(1,2))^2));
+thetaz=atan2(-R(1,2),R(1,1));