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Work on Control (HAC-LAC) + Models

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Thomas Dehaeze
2020-03-13 17:40:22 +01:00
parent 493268638b
commit fab78b6527
78 changed files with 5395 additions and 2475 deletions
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docs/positioning_error.html
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@@ -4,7 +4,7 @@
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<!-- 2020-02-25 mar. 18:20 -->
<!-- 2020-03-06 ven. 15:09 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Computation of the Positioning Error with respect to the nano-hexapod</title>
@@ -202,50 +202,28 @@
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<li><a href="#orgf8376ef">1. How do we measure the position of the sample with respect to the granite</a></li>
<li><a href="#orgb3d760a">2. Verify that the function to compute the reference pose is correct</a>
<ul>
<li><a href="#org5c3ae81">2.1. Prepare the Simulation</a></li>
<li><a href="#org4efa9f2">2.1. Prepare the Simulation</a></li>
<li><a href="#orgd2fa379">2.2. Verify that the pose of the sample is the same as the computed one</a></li>
<li><a href="#org00066db">2.3. Conclusion</a></li>
<li><a href="#orga90edfe">2.3. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgf6fa84d">3. Verify that the function to convert the position error in the frame fixed to the nano-hexapod is working</a>
<ul>
<li><a href="#org4efa9f2">3.1. Prepare the Simulation</a></li>
<li><a href="#orgcbcbd60">3.1. Prepare the Simulation</a></li>
<li><a href="#org4e6a2dc">3.2. Compute the wanted pose of the sample in the NASS Base from the metrology and the reference</a></li>
<li><a href="#orga048dbb">3.3. Verify that be imposing the error motion on the nano-hexapod, we indeed have zero error at the end</a></li>
<li><a href="#orga90edfe">3.4. Conclusion</a></li>
<li><a href="#orgc1b5b33">3.4. Conclusion</a></li>
</ul>
</li>
</ul>
@@ -370,8 +348,8 @@ We can then determine extract other orientation conventions such that Euler angl
The goal here is to perfectly move the station and verify that there is no mismatch between the metrology measurement and the computation of the reference pose.
</p>
</div>
<div id="outline-container-org5c3ae81" class="outline-3">
<h3 id="org5c3ae81"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
<div id="outline-container-org4efa9f2" class="outline-3">
<h3 id="org4efa9f2"><span class="section-number-3">2.1</span> Prepare the Simulation</h3>
<div class="outline-text-3" id="text-2-1">
<p>
We set a small <code>StopTime</code>.
@@ -541,8 +519,8 @@ ans =
</div>
</div>
<div id="outline-container-org00066db" class="outline-3">
<h3 id="org00066db"><span class="section-number-3">2.3</span> Conclusion</h3>
<div id="outline-container-orga90edfe" class="outline-3">
<h3 id="orga90edfe"><span class="section-number-3">2.3</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-3">
<div class="important">
<p>
@@ -570,8 +548,8 @@ This will induce a global positioning error of the sample with respect to the de
We want to verify that we are able to measure this positioning error and convert it in the frame attached to the Nano-hexapod.
</p>
</div>
<div id="outline-container-org4efa9f2" class="outline-3">
<h3 id="org4efa9f2"><span class="section-number-3">3.1</span> Prepare the Simulation</h3>
<div id="outline-container-orgcbcbd60" class="outline-3">
<h3 id="orgcbcbd60"><span class="section-number-3">3.1</span> Prepare the Simulation</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We set a small <code>StopTime</code>.
@@ -895,8 +873,8 @@ Verify that the pose error is small.
</div>
</div>
<div id="outline-container-orga90edfe" class="outline-3">
<h3 id="orga90edfe"><span class="section-number-3">3.4</span> Conclusion</h3>
<div id="outline-container-orgc1b5b33" class="outline-3">
<h3 id="orgc1b5b33"><span class="section-number-3">3.4</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-4">
<div class="important">
<p>
@@ -910,7 +888,7 @@ Indeed, we are able to convert the position error in the frame of the NASS and t
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-25 mar. 18:20</p>
<p class="date">Created: 2020-03-06 ven. 15:09</p>
</div>
</body>
</html>