tdehaeze/nass-simscape
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83 Commits

Author SHA1 Message Date
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
Adrien Jublan
2353c8f362 Rename joint, connection port and block 2018-04-18 13:39:12 +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