tdehaeze
1715214c8b
Finish analysis of required bw as a function of K
2020-04-08 12:12:41 +02:00
tdehaeze
60aeb7d5ab
Optimal stiffness / OL budget error analysis
2020-04-07 19:34:05 +02:00
tdehaeze
ae89d0ea19
Started the stiffness analysis / noise budgeting
2020-04-07 15:26:29 +02:00
tdehaeze
a17de79d34
Add many curves to optimal-stiffness analysis
2020-04-03 17:54:48 +02:00
tdehaeze
d60bc3bfb0
Add option to initialize spindle rotation speed
2020-04-03 14:10:14 +02:00
tdehaeze
9c6d397fe4
Continue analysis of optimal_stiffness
2020-04-02 21:38:31 +02:00
tdehaeze
295ba8bca1
Add custom stiffness and damping to the n-hexapod
2020-04-02 15:29:22 +02:00
tdehaeze
544bb82b10
Publish html
2020-04-01 16:17:26 +02:00
tdehaeze
4613c74ef3
Update uncertainty analysis to micro-hexapod pose
2020-04-01 16:17:13 +02:00
tdehaeze
1c27850fc3
Add analysis about uncertainty to exp. conditions
2020-04-01 15:18:37 +02:00
tdehaeze
ae17f8644a
Add some analysis on Voice coil with high mass
2020-03-30 19:04:03 +02:00
tdehaeze
27f15fdf78
Update links from index and publish html files
2020-03-25 19:23:22 +01:00
tdehaeze
4431bcec8d
Update html pages
2020-03-23 10:05:32 +01:00
tdehaeze
1c342403c2
Totally reworked the experiment file
2020-03-17 12:32:42 +01:00
tdehaeze
0e28b2d4f5
Started to rework the experiment file
2020-03-17 11:23:39 +01:00
tdehaeze
fab78b6527
Work on Control (HAC-LAC) + Models
2020-03-13 17:40:22 +01:00
tdehaeze
493268638b
Removed many unused mat files
2020-03-13 17:37:54 +01:00
tdehaeze
ceefaa91a3
Change all the organization of the files
2020-02-25 18:10:20 +01:00
tdehaeze
12c2e4a508
Huge Update
...
- Modify the joints for Ty, Ry, Rz to have only one bushing joint.
- Compensation of gravity
2020-02-25 17:49:08 +01:00
tdehaeze
b40079d6e6
Add logging conf and init function associated
2020-02-18 13:58:40 +01:00
tdehaeze
aa2f3254c2
Configurable Model: stages (solid/flexible)
2020-02-17 18:21:20 +01:00
tdehaeze
117430c8d1
Now the Plant is correct
2020-01-22 17:56:47 +01:00
tdehaeze
24f44f5477
[BRK] Update the nano-hexapod Simscape model
2020-01-22 17:42:21 +01:00
tdehaeze
b2ed7cbd63
Add accelerometer to the stewart platform
2020-01-20 17:21:11 +01:00
tdehaeze
fe26a724f1
Update active damping analysis: add IFF + HPF
2020-01-20 17:20:50 +01:00
tdehaeze
c6a4e5343e
Important change for the implementation of motion input
...
Now we provide the first and second derivatives.
This permits to not have any motion error.
Also, many experiments (tomography, ty-scans) are simulated
2019-12-17 18:03:21 +01:00
tdehaeze
65e246ff4c
Add flexible hexapod initialized in the wanted configuration
...
Change the tomography experiment simulation
Add simulink "matlab function" to compute the position error
2019-12-17 08:28:20 +01:00
tdehaeze
b4180feded
Tomography Experiment with and without disturbances
2019-12-13 19:07:54 +01:00
tdehaeze
73a3735f19
Modal Analysis of the Micro Station
...
The Center of Mass of each solid has been identified using the
inertia sensor block.
Then, the modal analysis done on the real station is virtual done
on the simscape model.
Then the results are compare in order to tune the Simscape model.
2019-12-13 15:54:10 +01:00
tdehaeze
960afc6b0a
Update one html
2019-12-13 11:06:40 +01:00
tdehaeze
1125a9b1ea
[major-change] start to change the axis of all stages to match id31
...
The idea is have the world frame the same as the one defined for id31.
Also all the actuators should actuate in the positive direction of the axes
2019-12-13 09:31:19 +01:00
tdehaeze
7b5f932ece
Update the "positioning_error" computation file
...
Removed unused analysis
2019-12-12 13:48:39 +01:00
tdehaeze
6af5593c16
Change the reference to the correct hexapod leg
2019-12-12 13:18:03 +01:00
tdehaeze
2390c20d92
Change the location of "conf_simscape.mat"
2019-12-11 17:07:04 +01:00
tdehaeze
ce9ec2cced
Add mat files
2019-12-11 15:08:42 +01:00
tdehaeze
f73becd5c9
Update all the functions
2019-12-06 12:03:34 +01:00
tdehaeze
946e897719
Remove sim_conf
2019-12-04 10:32:07 +01:00
389fd66ba4
Align the centers of rotation of Ry, Hexa, NASS with the sample
2018-10-30 14:37:19 +01:00
ef6f4613b1
Add script to identify tf from force to displacement of the legs
2018-10-29 13:40:27 +01:00
fa3658509c
[major-changes] use of referenced model, use of variable step solver
2018-10-29 12:57:13 +01:00
5e6f1dbc38
Create nass_library folder, use some referenced models
2018-10-25 14:06:37 +02:00
7575aee987
Add metrology element (change of base, computation of error)
...
Lot's of new things:
- try to use less .mat files
- computation of setpoint and error in the cartesian frame fixed to the granite
- change of base to have the errors w.r.t. the NASS base
- add script to plot setpoint, position and error
2018-10-24 15:08:23 +02:00
14259c7e67
[WIP] Change inputs.mat elements
...
Create new identification simulink
2018-10-12 18:17:03 +02:00
782129a31d
Delete Smidata and add solids instead
2018-10-12 13:22:29 +02:00
dcfe29b026
[WIP] Create sub-folders for STEP files
...
Include step path into smidata object
2018-10-11 10:25:57 +02:00
f0e83d7c39
Huge Change
...
- Add may folders
- Add IFF and HAC-LAC scripts
2018-10-07 22:07:21 +02:00
b347442859
Add metrology mirror initialization. Change J-height of hexapods
2018-07-11 15:44:16 +02:00
9678f43e5f
Update all .mat files
2018-06-21 11:46:11 +02:00
91ab166b3e
Change initialization of simulation configuration
2018-06-21 11:42:46 +02:00
e065ab61e8
Simulation with M=20kg
2018-06-17 11:27:25 +02:00
tdehaeze
Thomas Dehaeze