tdehaeze/nass-simscape
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Author SHA1 Message Date
Thomas Dehaeze 223aeae32d Renamed and split all the identification scripts 2018-10-02 22:01:53 +02:00
Thomas Dehaeze 8cde1ba206 Renamed a few scripts 2018-10-02 21:46:34 +02:00
Thomas Dehaeze 6161ff1ad3 Round some smidata number 2018-10-02 21:33:56 +02:00
Thomas Dehaeze 77f8b61d38 Round all number of SmiData. Simulink: R2018A 2018-10-02 18:17:13 +02:00
Thomas Dehaeze 46a6449bfc Format smi initialize function. Delete some unused files 2018-10-02 17:44:03 +02:00
Thomas Dehaeze 9883905c82 Add main.m and config.m 2018-09-29 19:08:05 +02:00
Thomas Dehaeze 6a3af445dc Correct conical shape for the mirror 2018-07-11 15:48:39 +02:00
Thomas Dehaeze b347442859 Add metrology mirror initialization. Change J-height of hexapods 2018-07-11 15:44:16 +02:00
Thomas Dehaeze 80f3774166 Add script for showing all the possible displacement 2018-07-03 15:28:29 +02:00
Thomas Dehaeze 9a2102b5db Update initializeInputs by adding setpoints for all the stages 2018-06-21 14:16:08 +02:00
Thomas Dehaeze 9678f43e5f Update all .mat files 2018-06-21 11:46:11 +02:00
Thomas Dehaeze 601078cdab Change the way control is generated. Add script to test control 2018-06-21 11:45:02 +02:00
Thomas Dehaeze 156dd833bd Add script to run simulation without control and then with control 2018-06-21 11:44:23 +02:00
Thomas Dehaeze 518978fc1b Add and modify identification scripts 2018-06-21 11:43:46 +02:00
Thomas Dehaeze 91ab166b3e Change initialization of simulation configuration 2018-06-21 11:42:46 +02:00
Thomas Dehaeze e065ab61e8 Simulation with M=20kg 2018-06-17 11:27:25 +02:00
Thomas Dehaeze 92b66cb8bb [REFACTORING] Huge changes, WIP. 2018-06-16 22:57:54 +02:00
Thomas Dehaeze 971a520edd [WIP] Add src folder, change damping of system 2018-06-13 09:37:20 +02:00
Thomas Dehaeze 3b4a67e0a1 Put everything in subsystem 2018-06-12 13:54:31 +02:00
Thomas Dehaeze f1d8fa249e Tilt input is now angle and not torque 2018-06-12 13:36:00 +02:00
Thomas Dehaeze 602751c834 We not specify rotation instead of torque for the spindle 2018-06-12 13:20:44 +02:00
Thomas Dehaeze 84bc428a18 Change the way simulation is initialized. 
Add script to define input vectors.
Add script to plot curves.
 2018-06-12 11:46:36 +02:00
Thomas Dehaeze 5587309cfa [major changes] Add some control on the system 
Add many scripts to:
- define all the inputs for various experiments
- plot the time and frequency data
- identify the plant
 2018-06-07 18:27:02 +02:00
Thomas Dehaeze 1335f23dc5 Delete some unused files 2018-06-07 18:26:15 +02:00
Thomas Dehaeze 92d4ac9b2b Add sample object and remove sample script 2018-06-07 14:20:06 +02:00
Thomas Dehaeze 88b903e8d2 Add inertial sensor on the simscape model. Ident. same as Marc. 
The identification now uses inertial sensors.
Also, we compare the identification with the measurement results.
 2018-06-07 13:49:42 +02:00
Thomas Dehaeze d59349f5d4 Add ground element, ground motion, and force on the granite. 2018-06-06 19:16:04 +02:00
Thomas Dehaeze ef1a2ff692 Finish to correct the Spindle 2018-06-06 18:45:18 +02:00
Thomas Dehaeze bacd5af6e8 Correct align axis at the spindle location. 
Also remove some rigid transform and use the creation of align axis with the solid.
 2018-06-06 18:43:22 +02:00
Thomas Dehaeze 2872f048d6 Remove useless parameters and add some comments 2018-06-06 18:39:38 +02:00
Thomas Dehaeze 8310c58a64 [major changes] Change hexapods to use automatic generated ones 2018-06-06 18:09:55 +02:00
Thomas Dehaeze 05caf5c3f7 Align axis of granite. Better alignment of Ty on granite. 2018-06-05 10:30:25 +02:00
Thomas Dehaeze fb15f22993 Correct the position of the actuator for Ty 
All axis seems to be aligned on the z axis
 2018-06-04 18:30:19 +02:00
Thomas Dehaeze 93816ca597 Align x and y axis of each stage 2018-06-04 16:18:33 +02:00
Thomas Dehaeze d573a2a0a8 Every z axis is now aligned vertically. Ground motion is working. 2018-06-04 15:50:30 +02:00
Thomas Dehaeze a9d0fa722e [Breaking changes] Rework all the axis of Ty/Ry/Granite 2018-06-04 15:35:54 +02:00
Thomas Dehaeze ca321e00ca Change things in symetrie hexapod/nass/sample 
Change leg order, change axis (corrected the vertical axis)
Now the input frame is the bottom of the base and the output frame is the top
of the top platform.
 2018-06-04 13:45:10 +02:00
Thomas Dehaeze cf886e8b11 Add sampling time and simulation time into Data.m 2018-06-04 09:50:44 +02:00
Thomas Dehaeze 3223361d22 Step STEPS files as external files 2018-06-04 09:41:07 +02:00
Thomas Dehaeze d332373455 [breaking changes] Regenerated the datatfile from simulink 2018-06-04 09:39:14 +02:00
Thomas Dehaeze 86d56eee37 Remove analyse script 2018-06-04 09:35:58 +02:00
Thomas Dehaeze 72fc30b843 Created identification folder 2018-06-04 09:34:40 +02:00
Thomas Dehaeze c34ed250eb Rename datafile 2018-06-04 09:32:54 +02:00
Thomas Dehaeze eff92f631b Add stewart-simscape as a submodule 2018-06-04 09:28:58 +02:00
Thomas Dehaeze 9f4bf3dfaa Remove stewart-simscape to use submodules 2018-06-04 09:28:07 +02:00
Thomas Dehaeze cdc9f9ca70 Update project files 2018-06-04 09:25:59 +02:00
Thomas Dehaeze 0605d91845 Update .gitignore and add stewart-simscape folder 2018-06-04 09:21:24 +02:00
Thomas Dehaeze e2b89b69e5 Add identification script to identify each stage one by one 2018-04-19 17:10:24 +02:00
Thomas Dehaeze 68b62f9524 Renamed all input constant blocs and all scope blocs 2018-04-19 16:40:56 +02:00
Thomas Dehaeze 4a7927a9f4 For hexapods: add legs force input, and leg disp output 
Also renamed inputs and outputs of all blocs
 2018-04-19 16:29:57 +02:00
Thomas Dehaeze 5dfbb6c5f5 Add Jacobian to Symetrie and NASS 
Now all the forces injected into the hexapods are in the cartesian frame.
The measured displacements are also in the cartesian frame.
 2018-04-19 16:08:42 +02:00
Thomas Dehaeze a47cee22de Add one ./STEPS/ prefix to one missing block 2018-04-19 14:48:34 +02:00
Thomas Dehaeze 392930f789 Add STEPS folder 2018-04-18 13:34:15 +02:00
Thomas Dehaeze 9a91666c19 add sensor to sample 2018-04-18 10:27:19 +02:00
Thomas Dehaeze 4a7b948984 Change how blocks are separated 2018-04-18 10:04:12 +02:00
Thomas Dehaeze 0ab3726ce7 add sample 2018-04-17 18:01:46 +02:00
Thomas Dehaeze 47d2d701d9 Add sensor and actuator to NASS 2018-04-17 17:53:57 +02:00
Thomas Dehaeze 3e55f333ef Add axis corrector to Data.m and add sensor/actuator to it 2018-04-17 17:28:49 +02:00
Thomas Dehaeze 55da27cc9b Add sensor and actuator to Hexapod Symetrie 2018-04-17 16:33:04 +02:00
Thomas Dehaeze 087c24f406 Add sensor and actuator to sindle 2018-04-17 16:17:19 +02:00
Thomas Dehaeze 916f6cc737 Match frame from granite to translation stage 2018-04-17 15:20:28 +02:00
Thomas Dehaeze 21ee7d1353 Add sensor and actuator to tilt 2018-04-17 15:17:09 +02:00
Thomas Dehaeze cf35177883 add rotation angle script 2018-04-17 15:12:13 +02:00
Thomas Dehaeze ecb128f042 add sensor and actuator to translation stage 2018-04-17 14:44:24 +02:00
Thomas Dehaeze 9d73393b4f change comment 2018-04-11 13:59:47 +02:00
Thomas Dehaeze b6b61bada2 nass 2018-04-11 13:44:50 +02:00
Thomas Dehaeze 4356288bfc add gitattributes files 2018-04-11 13:42:21 +02:00