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Update files for new definition of hexapods

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This commit is contained in:
Thomas Dehaeze
2020-05-05 11:38:52 +02:00
parent 2deb41939d
commit f7714a1449
33 changed files with 4627 additions and 2915 deletions
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56
docs/control_virtual_mass.html
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@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-04-17 ven. 14:32 -->
<!-- 2020-05-05 mar. 10:34 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Decentralize control to add virtual mass</title>
<meta name="generator" content="Org mode" />
@@ -39,16 +39,16 @@
<li><a href="#org35a3822">2. Identification</a></li>
<li><a href="#orgd6fc719">3. Adding Virtual Mass in the Leg&rsquo;s Space</a>
<ul>
<li><a href="#org9ed2d4c">3.1. Plant</a></li>
<li><a href="#org4f03a34">3.2. Controller Design</a></li>
<li><a href="#org2fe0ce0">3.3. Identification of the Primary Plant</a></li>
<li><a href="#orga27c9a0">3.1. Plant</a></li>
<li><a href="#orgcbce41a">3.2. Controller Design</a></li>
<li><a href="#orgca1f525">3.3. Identification of the Primary Plant</a></li>
</ul>
</li>
<li><a href="#orgc9131d0">4. Adding Virtual Mass in the Task Space</a>
<ul>
<li><a href="#orga27c9a0">4.1. Plant</a></li>
<li><a href="#orgcbce41a">4.2. Controller Design</a></li>
<li><a href="#orgca1f525">4.3. Identification of the Primary Plant</a></li>
<li><a href="#orgdbe6a25">4.1. Plant</a></li>
<li><a href="#org571922f">4.2. Controller Design</a></li>
<li><a href="#org4960701">4.3. Identification of the Primary Plant</a></li>
</ul>
</li>
</ul>
@@ -69,10 +69,10 @@ initializeAxisc();
initializeMirror();
initializeSimscapeConfiguration();
initializeDisturbances(<span class="org-string">'enable'</span>, <span class="org-constant">false</span>);
initializeLoggingConfiguration(<span class="org-string">'log'</span>, <span class="org-string">'none'</span>);
initializeDisturbances('enable', false);
initializeLoggingConfiguration('log', 'none');
initializeController(<span class="org-string">'type'</span>, <span class="org-string">'hac-dvf'</span>);
initializeController('type', 'hac-dvf');
</pre>
</div>
@@ -80,7 +80,7 @@ initializeController(<span class="org-string">'type'</span>, <span class="org-st
The nano-hexapod has the following leg&rsquo;s stiffness and damping.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeNanoHexapod(<span class="org-string">'k'</span>, 1e5, <span class="org-string">'c'</span>, 2e2);
<pre class="src src-matlab">initializeNanoHexapod('k', 1e5, 'c', 2e2);
</pre>
</div>
@@ -88,7 +88,7 @@ The nano-hexapod has the following leg&rsquo;s stiffness and damping.
We set the stiffness of the payload fixation:
</p>
<div class="org-src-container">
<pre class="src src-matlab">Kp = 1e8; <span class="org-comment">% [N/m]</span>
<pre class="src src-matlab">Kp = 1e8; % [N/m]
</pre>
</div>
</div>
@@ -115,8 +115,8 @@ Identification of the Primary plant without virtual add of mass
<h2 id="orgd6fc719"><span class="section-number-2">3</span> Adding Virtual Mass in the Leg&rsquo;s Space</h2>
<div class="outline-text-2" id="text-3">
</div>
<div id="outline-container-org9ed2d4c" class="outline-3">
<h3 id="org9ed2d4c"><span class="section-number-3">3.1</span> Plant</h3>
<div id="outline-container-orga27c9a0" class="outline-3">
<h3 id="orga27c9a0"><span class="section-number-3">3.1</span> Plant</h3>
<div class="outline-text-3" id="text-3-1">
<div id="org98e7ba8" class="figure">
@@ -127,11 +127,11 @@ Identification of the Primary plant without virtual add of mass
</div>
</div>
<div id="outline-container-org4f03a34" class="outline-3">
<h3 id="org4f03a34"><span class="section-number-3">3.2</span> Controller Design</h3>
<div id="outline-container-orgcbce41a" class="outline-3">
<h3 id="orgcbce41a"><span class="section-number-3">3.2</span> Controller Design</h3>
<div class="outline-text-3" id="text-3-2">
<div class="org-src-container">
<pre class="src src-matlab">Kdvf = 10<span class="org-type">*</span>s<span class="org-type">^</span>2<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>500)<span class="org-type">^</span>2<span class="org-type">*</span>eye(6);
<pre class="src src-matlab">Kdvf = 10*s^2/(1+s/2/pi/500)^2*eye(6);
</pre>
</div>
@@ -144,8 +144,8 @@ Identification of the Primary plant without virtual add of mass
</div>
</div>
<div id="outline-container-org2fe0ce0" class="outline-3">
<h3 id="org2fe0ce0"><span class="section-number-3">3.3</span> Identification of the Primary Plant</h3>
<div id="outline-container-orgca1f525" class="outline-3">
<h3 id="orgca1f525"><span class="section-number-3">3.3</span> Identification of the Primary Plant</h3>
<div class="outline-text-3" id="text-3-3">
<div id="orgd49505e" class="figure">
@@ -168,8 +168,8 @@ Identification of the Primary plant without virtual add of mass
<h2 id="orgc9131d0"><span class="section-number-2">4</span> Adding Virtual Mass in the Task Space</h2>
<div class="outline-text-2" id="text-4">
</div>
<div id="outline-container-orga27c9a0" class="outline-3">
<h3 id="orga27c9a0"><span class="section-number-3">4.1</span> Plant</h3>
<div id="outline-container-orgdbe6a25" class="outline-3">
<h3 id="orgdbe6a25"><span class="section-number-3">4.1</span> Plant</h3>
<div class="outline-text-3" id="text-4-1">
<p>
Let&rsquo;s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\mathcal{X}}\):
@@ -185,11 +185,11 @@ Let&rsquo;s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\m
</div>
</div>
<div id="outline-container-orgcbce41a" class="outline-3">
<h3 id="orgcbce41a"><span class="section-number-3">4.2</span> Controller Design</h3>
<div id="outline-container-org571922f" class="outline-3">
<h3 id="org571922f"><span class="section-number-3">4.2</span> Controller Design</h3>
<div class="outline-text-3" id="text-4-2">
<div class="org-src-container">
<pre class="src src-matlab">KmX = (s<span class="org-type">^</span>2<span class="org-type">*</span>1<span class="org-type">/</span>(1<span class="org-type">+</span>s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>500)<span class="org-type">^</span>2<span class="org-type">*</span>diag([1 1 50 0 0 0]));
<pre class="src src-matlab">KmX = (s^2*1/(1+s/2/pi/500)^2*diag([1 1 50 0 0 0]));
</pre>
</div>
@@ -201,14 +201,14 @@ Let&rsquo;s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\m
</div>
<div class="org-src-container">
<pre class="src src-matlab">Kdvf = inv(nano_hexapod.J<span class="org-type">'</span>)<span class="org-type">*</span>KmX<span class="org-type">*</span>inv(nano_hexapod.J);
<pre class="src src-matlab">Kdvf = inv(nano_hexapod.kinematics.J')*KmX*inv(nano_hexapod.kinematics.J);
</pre>
</div>
</div>
</div>
<div id="outline-container-orgca1f525" class="outline-3">
<h3 id="orgca1f525"><span class="section-number-3">4.3</span> Identification of the Primary Plant</h3>
<div id="outline-container-org4960701" class="outline-3">
<h3 id="org4960701"><span class="section-number-3">4.3</span> Identification of the Primary Plant</h3>
<div class="outline-text-3" id="text-4-3">
<div id="orge1df87b" class="figure">
@@ -229,7 +229,7 @@ Let&rsquo;s look at the transfer function from \(\bm{\mathcal{F}}\) to \(d\bm{\m
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-04-17 ven. 14:32</p>
<p class="date">Created: 2020-05-05 mar. 10:34</p>
</div>
</body>
</html>