Commit Graph

41 Commits

Author SHA1 Message Date
b54db6fa0d New configurable simscape model. Add logging block 2020-02-18 11:33:04 +01:00
aa2f3254c2 Configurable Model: stages (solid/flexible) 2020-02-17 18:21:20 +01:00
ed4ac36c01 Generation of disturbances is now reproducible 2020-02-05 13:36:41 +01:00
cfc4cf28f5 Update the Rz reference: offset added after filter 2020-02-04 10:28:32 +01:00
3318694d53 Update all the initialization function
Generally, remove the unused parameters,
Remove the colors and other no important parameters.
2020-02-03 17:50:52 +01:00
24f44f5477 [BRK] Update the nano-hexapod Simscape model 2020-01-22 17:42:21 +01:00
cdabfb9eba Rename initDisturbances to initializeDisturbances 2020-01-21 15:49:02 +01:00
d5a1cbdaea Add parameter to enable/disable all disturbances 2020-01-21 15:46:34 +01:00
b2ed7cbd63 Add accelerometer to the stewart platform 2020-01-20 17:21:11 +01:00
c5bb46c184 Add flexibility to the sample 2020-01-16 11:49:29 +01:00
6356b40f5f Add Z-axis accelerometer and geophone subsystems 2020-01-16 11:49:13 +01:00
3367cabc70 Work on tomography experiment with active damping 2020-01-15 16:23:40 +01:00
1889b1be5c Update some Simscape models 2020-01-13 16:05:19 +01:00
a2917a50e9 Use new argument function validation technique 2020-01-13 11:46:51 +01:00
994fe2ccc7 Re-run tomography experiments 2019-12-19 12:48:12 +01:00
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
b4180feded Tomography Experiment with and without disturbances 2019-12-13 19:07:54 +01:00
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
9b2d91b464 Moved all the simulink files in each folders 2019-12-12 11:26:27 +01:00
3e37f1edff Deleted the initializeInputs and initializeExperiment functions
Now, the function initializeReferences should be used
2019-12-11 17:07:51 +01:00
eda325fae2 Remove org comments in tangled matlab functions 2019-12-11 14:46:31 +01:00
98555355d3 Verified the function that converts the error in the NASS base 2019-12-11 09:43:30 +01:00
b3e630459a Update the way the micro-hexapod is initialize (pitch-roll-yaw)
Next verified that the function to compute the wanted sample position
is working => yes
2019-12-11 09:33:46 +01:00
9fb86964ef Test of position/orientation of an Hexapod 2019-12-10 18:06:33 +01:00
f73becd5c9 Update all the functions 2019-12-06 12:03:34 +01:00
7032f05ef5 Update the metrology study. 2019-12-06 12:03:16 +01:00
946e897719 Remove sim_conf 2019-12-04 10:32:07 +01:00
0ed2768295 Update stiffness of Ty stage. Add init of Cedrat actuator 2019-11-22 10:39:08 +01:00
080996e579 Update the initialization functions 2019-11-22 10:36:26 +01:00
f6e543ffcc Add Cedrat Actuator 2019-10-28 17:36:20 +01:00
cdbd62b3ee Change subaxis to subplot 2019-10-14 16:45:24 +02:00
714225ef96 Start the standardize the folder. Add org-mode files. 2019-07-15 11:07:24 +02:00
Thomas Dehaeze
389fd66ba4 Align the centers of rotation of Ry, Hexa, NASS with the sample 2018-10-30 14:37:19 +01:00
Thomas Dehaeze
fa3658509c [major-changes] use of referenced model, use of variable step solver 2018-10-29 12:57:13 +01:00
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
f0e83d7c39 Huge Change
- Add may folders
- Add IFF and HAC-LAC scripts
2018-10-07 22:07:21 +02:00
Thomas Dehaeze
496dd15586 Remove preprocessIdTf. Improve identification scripts 2018-10-03 13:55:09 +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
91ab166b3e Change initialization of simulation configuration 2018-06-21 11:42:46 +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