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Update files for new definition of hexapods

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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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docs/uncertainty_experiment.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. 09:35 -->
<!-- 2020-05-05 mar. 10:34 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Evaluating the Plant Uncertainty in various experimental conditions</title>
<meta name="generator" content="Org mode" />
@@ -39,13 +39,13 @@
<li><a href="#orga0077c1">2. Variation of the Sample Resonance Frequency</a></li>
<li><a href="#orgb49a967">3. Variation of the Spindle Angle</a>
<ul>
<li><a href="#org07d9092">3.1. Identification</a></li>
<li><a href="#org027e6cb">3.1. Identification</a></li>
</ul>
</li>
<li><a href="#org9081b0f">4. Variation of the Spindle Rotation Speed</a>
<ul>
<li><a href="#orgd625617">4.1. Initialization of gravity compensation forces</a></li>
<li><a href="#org027e6cb">4.2. Identification</a></li>
<li><a href="#orgd69bd8a">4.2. Identification</a></li>
<li><a href="#org70dd336">4.3. Plots</a></li>
</ul>
</li>
@@ -107,7 +107,7 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following sample masses, both with a soft and stiff nano-hexapod.
</p>
<div class="org-src-container">
<pre class="src src-matlab">masses = [1, 10, 50]; <span class="org-comment">% [kg]</span>
<pre class="src src-matlab">masses = [1, 10, 50]; % [kg]
</pre>
</div>
<p>
@@ -214,8 +214,8 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following sample resonance frequency.
</p>
<div class="org-src-container">
<pre class="src src-matlab">mass_w = [50, 100, 500]; <span class="org-comment">% [Hz]</span>
mass = 10; <span class="org-comment">% [Kg]</span>
<pre class="src src-matlab">mass_w = [50, 100, 500]; % [Hz]
mass = 10; % [Kg]
</pre>
</div>
<p>
@@ -300,15 +300,15 @@ Let&rsquo;s note \(\omega_m\) the frequency of the resonance of the Payload.
<a id="org58b9cae"></a>
</p>
</div>
<div id="outline-container-org07d9092" class="outline-3">
<h3 id="org07d9092"><span class="section-number-3">3.1</span> Identification</h3>
<div id="outline-container-org027e6cb" class="outline-3">
<h3 id="org027e6cb"><span class="section-number-3">3.1</span> Identification</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We identify the dynamics for the following Tilt stage angles.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSample(<span class="org-string">'mass'</span>, 50);
Rz_amplitudes = [0, <span class="org-constant">pi</span><span class="org-type">/</span>4, <span class="org-constant">pi</span><span class="org-type">/</span>2, <span class="org-constant">pi</span>]; <span class="org-comment">% [rad]</span>
<pre class="src src-matlab">initializeSample('mass', 50);
Rz_amplitudes = [0, pi/4, pi/2, pi]; % [rad]
</pre>
</div>
</div>
@@ -369,8 +369,8 @@ We initialize all the stages such that their joints are blocked and we record th
We set a payload mass of 10Kg.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSample(<span class="org-string">'type'</span>, <span class="org-string">'init'</span>, <span class="org-string">'mass'</span>, 10);
nano_hexapod = initializeNanoHexapod( <span class="org-string">'type'</span>, <span class="org-string">'init'</span>);
<pre class="src src-matlab">initializeSample('type', 'init', 'mass', 10);
nano_hexapod = initializeNanoHexapod( 'type', 'init');
</pre>
</div>
@@ -379,15 +379,15 @@ Finally, we simulate the system and same the forces/torques applied in each join
</p>
</div>
</div>
<div id="outline-container-org027e6cb" class="outline-3">
<h3 id="org027e6cb"><span class="section-number-3">4.2</span> Identification</h3>
<div id="outline-container-orgd69bd8a" class="outline-3">
<h3 id="orgd69bd8a"><span class="section-number-3">4.2</span> Identification</h3>
<div class="outline-text-3" id="text-4-2">
<p>
We initialize the stages with forces/torques compensating the gravity forces.
We identify the dynamics for the following Spindle rotation periods.
</p>
<div class="org-src-container">
<pre class="src src-matlab">Rz_periods = [60, 6, 2, 1]; <span class="org-comment">% [s]</span>
<pre class="src src-matlab">Rz_periods = [60, 6, 2, 1]; % [s]
</pre>
</div>
</div>
@@ -472,8 +472,8 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following Tilt stage angles.
</p>
<div class="org-src-container">
<pre class="src src-matlab">initializeSample(<span class="org-string">'mass'</span>, 50);
Ry_amplitudes = [<span class="org-type">-</span>3<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">/</span>180 0 3<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">/</span>180]; <span class="org-comment">% [rad]</span>
<pre class="src src-matlab">initializeSample('mass', 50);
Ry_amplitudes = [-3*pi/180 0 3*pi/180]; % [rad]
</pre>
</div>
<p>
@@ -517,7 +517,7 @@ We initialize all the stages with the default parameters.
We identify the dynamics for the following translations of the micro-hexapod in the X direction.
</p>
<div class="org-src-container">
<pre class="src src-matlab">Tx_amplitudes = [0, 5e<span class="org-type">-</span>3, 10e<span class="org-type">-</span>3]; <span class="org-comment">% [m]</span>
<pre class="src src-matlab">Tx_amplitudes = [0, 5e-3, 10e-3]; % [m]
</pre>
</div>
@@ -603,7 +603,7 @@ From all the experimental condition studied, the only ones that have significant
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-04-17 ven. 09:35</p>
<p class="date">Created: 2020-05-05 mar. 10:34</p>
</div>
</body>
</html>