tdehaeze/nass-simscape
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94 Commits

Author SHA1 Message Date
Thomas Dehaeze
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
Thomas Dehaeze
14259c7e67 [WIP] Change inputs.mat elements 
Create new identification simulink
 2018-10-12 18:17:03 +02:00
Thomas Dehaeze
782129a31d Delete Smidata and add solids instead 2018-10-12 13:22:29 +02:00
Thomas Dehaeze
05078f270b Remove all solidtransform 2018-10-12 11:53:58 +02:00
Thomas Dehaeze
b6ddaecf32 Remove useless RigidTransforms 2018-10-11 14:54:30 +02:00
Thomas Dehaeze
dcfe29b026 [WIP] Create sub-folders for STEP files 
Include step path into smidata object
 2018-10-11 10:25:57 +02:00
Thomas Dehaeze
f0e83d7c39 Huge Change 
- Add may folders
- Add IFF and HAC-LAC scripts
 2018-10-07 22:07:21 +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
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
156dd833bd Add script to run simulation without control and then with control 2018-06-21 11:44:23 +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
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
d332373455 [breaking changes] Regenerated the datatfile from simulink 2018-06-04 09:39:14 +02:00
Adrien Jublan
f2291c2a38 All axes are aligned 2018-05-18 13:32:49 +02:00
Adrien Jublan
7b4be6eaa1 Aligned axes until tilt 2018-05-18 13:05:58 +02:00
Adrien Jublan
44625e46a9 Tomography experience 2018-04-25 13:20:44 +02:00
Adrien Jublan
267cc5ce0f add stifness in actuator tilt to contraine rotation 2018-04-25 11:49:34 +02:00
Adrien Jublan
61023cc335 Block granite with cartesian joint 2018-04-25 10:49:55 +02:00
Adrien Jublan
e60bce3e64 Block granite done (without cartesian joint) 2018-04-25 10:26:37 +02:00
Adrien Jublan
72acbbefbc Block Granite 2018-04-24 16:09:48 +02:00
Adrien Jublan
c99b82f9f4 add variable "g" in assemblage.slx 2018-04-24 15:49:14 +02:00
Adrien Jublan
5022743549 Add file sample.m (design and position of sample) 2018-04-24 15:45:32 +02:00
Adrien Jublan
73be1e0414 Add Offset before sensor sample 2018-04-24 15:14:12 +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