tdehaeze/nass-simscape
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity
240 Commits 1 Branch 0 Tags
c6a4e5343e6b8813aa175c73ea4f7678a9bab32c
Commit Graph
99 Commits
This Branch
This Branch
All Branches
Author SHA1 Message Date
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 27055d8f24 Update the disturbance analysis 2019-12-13 16:40:46 +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 0c796d1e3a [major-change] finish to correct all the axis 2019-12-13 10:38:30 +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 72c9afb29f minor changes 2019-12-12 12:49:03 +01:00
tdehaeze 8980329eb5 test bis 2019-12-12 11:35:06 +01:00
tdehaeze 90837d616e Test to have links to other websites 2019-12-12 11:30:34 +01:00
tdehaeze 41a2cd2201 Delete two unused simscape files 2019-12-12 11:26:50 +01:00
tdehaeze 9b2d91b464 Moved all the simulink files in each folders 2019-12-12 11:26:27 +01:00
tdehaeze d70c7cbe90 Remove folder from simulink project path 2019-12-12 11:15:08 +01:00
tdehaeze ae2f89f3cc Move one function 2019-12-11 17:34:42 +01:00
tdehaeze 6541ee4002 Update index links 2019-12-11 17:34:26 +01:00
tdehaeze 9d3e584930 Move the computeReferencePose function 2019-12-11 17:33:45 +01:00
tdehaeze 021965a2b4 Split the metrology folder into two folders 2019-12-11 17:33:16 +01:00
tdehaeze 69f9348d6a Remove wrong tangled file 2019-12-11 17:16:32 +01:00
tdehaeze 85c0b6e031 Slip the simscape folder into 3 folders 2019-12-11 17:09:32 +01:00
tdehaeze 355b9b1ef6 Update the index file with correct links to different folders 2019-12-11 17:08:53 +01:00
tdehaeze 9ac90eb881 The cedrat_piezo file is now in its own directory 2019-12-11 17:08:33 +01:00
tdehaeze 3e37f1edff Deleted the initializeInputs and initializeExperiment functions 
Now, the function initializeReferences should be used
 2019-12-11 17:07:51 +01:00
tdehaeze 9b450095d4 Renamed the tomography experiment folder 2019-12-11 17:07:25 +01:00
tdehaeze 2390c20d92 Change the location of "conf_simscape.mat" 2019-12-11 17:07:04 +01:00
tdehaeze 338ae764e1 [breaking change] Delete the simscape_library folder 
Now, I'll only use referenced subsystem and not model reference
 2019-12-11 16:05:24 +01:00
tdehaeze 3faff78c83 Remove simlink to figs folder 2019-12-11 15:16:32 +01:00
tdehaeze 20dcad19ba Remove useless file 2019-12-11 15:16:02 +01:00
tdehaeze 6b22eb9865 Minor fig folder change 2019-12-11 15:14:58 +01:00
tdehaeze 599e6795f9 Add movies 2019-12-11 15:10:35 +01:00
tdehaeze 6248a3ee25 Ignore data folder 2019-12-11 15:09:07 +01:00
tdehaeze ce9ec2cced Add mat files 2019-12-11 15:08:42 +01:00
tdehaeze ae94d53186 Add few forgotten files 2019-12-11 15:07:13 +01:00
tdehaeze fb4119770b Add two figures 2019-12-11 15:06:20 +01:00
tdehaeze 64a36df8af Alias the figure folder 2019-12-11 15:05:47 +01:00
tdehaeze 884a2d4799 Removed old files about identification 2019-12-11 15:03:26 +01:00
tdehaeze 897681e195 Removed old matlab files about control 2019-12-11 15:01:38 +01:00
tdehaeze ae148d1248 Remove unused matlab files about active damping 2019-12-11 14:47:59 +01:00
tdehaeze 7ca627ff91 Update simulation of kinematics 2019-12-11 14:47:14 +01:00
tdehaeze 6a3481b8ac Remove unused matlab files 2019-12-11 14:46:45 +01:00
tdehaeze eda325fae2 Remove org comments in tangled matlab functions 2019-12-11 14:46:31 +01:00
tdehaeze 89db48f81e Removed text from main page 2019-12-11 14:41:52 +01:00
tdehaeze 1ddfaa724a Add a rigid hexapod leg referenced subsystem 2019-12-11 14:40:56 +01:00
tdehaeze 4218b9bfea Removed unused hac-lac folder 2019-12-11 14:37:39 +01:00
tdehaeze d623c776ee Remove cedrat-actuator folder => separate repository 2019-12-11 14:36:06 +01:00
tdehaeze 81ffe5d5a0 Remove unused analysis folder 2019-12-11 14:32:57 +01:00
tdehaeze f517139655 Add a figure and some explanation about the metrology 2019-12-11 10:29:06 +01:00
tdehaeze 57266d56f4 Add bold math symbols 2019-12-11 09:46:47 +01:00
tdehaeze 98555355d3 Verified the function that converts the error in the NASS base 2019-12-11 09:43:30 +01:00
tdehaeze 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
tdehaeze 9fb86964ef Test of position/orientation of an Hexapod 2019-12-10 18:06:33 +01:00
tdehaeze b14de47379 Update metrology page 2019-12-09 09:01:45 +01:00
tdehaeze 7835cdd4dc Update simscape page 2019-12-06 12:04:11 +01:00
tdehaeze f73becd5c9 Update all the functions 2019-12-06 12:03:34 +01:00
tdehaeze 7032f05ef5 Update the metrology study. 2019-12-06 12:03:16 +01:00
tdehaeze 2a564881c5 Add file to test the metrology 2019-12-05 12:49:14 +01:00
tdehaeze 920e7995cb Add Many Simulink File 
Add some subsystems:
- Rigid Hexapods with only one (bushing) joint

Add full simscape files:
- metrology to study the metrology system / change of reference frame
 2019-12-05 12:48:00 +01:00
tdehaeze e5151f26bc Create file for simulating tomography experiments 2019-12-04 10:43:38 +01:00
tdehaeze 946e897719 Remove sim_conf 2019-12-04 10:32:07 +01:00
tdehaeze 391c2f2b8e Create a referenced configuration for simulink 2019-12-03 08:56:08 +01:00
tdehaeze 2cdb7ec982 Correct wrong associated of transfer functions 2019-11-22 15:43:05 +01:00
tdehaeze d263fb6144 Correct one unit convertion block 2019-11-22 14:57:21 +01:00
tdehaeze 8298e5dc85 Add transfer functions to approximate disturbance level 2019-11-22 14:56:56 +01:00
tdehaeze 2ae8e3e387 Add screenshots of each stage 2019-11-22 11:03:21 +01:00
tdehaeze 377a707cf0 Minor update of identification script 2019-11-22 11:02:47 +01:00
tdehaeze 9792a73065 Remove unused scripts 2019-11-22 11:02:23 +01:00
tdehaeze 3a9bdbec7a Moved the old matlab files into matlab-old folder 2019-11-22 10:59:27 +01:00
tdehaeze 35b2f4e652 Add some rigid stages as referenced-subsystems 2019-11-22 10:55:15 +01:00
tdehaeze 0ed2768295 Update stiffness of Ty stage. Add init of Cedrat actuator 2019-11-22 10:39:08 +01:00
tdehaeze 080996e579 Update the initialization functions 2019-11-22 10:36:26 +01:00
tdehaeze 4a6a8ee0bc Add some missing captions 2019-11-22 10:24:50 +01:00
tdehaeze 6a663291a0 [major-change] convert all the stages to subsystem-referenced 
This allows to share stages among multiple files
 2019-11-22 10:22:19 +01:00
tdehaeze b8264eceb5 Update model for Cedrat actuator (simple one) 2019-11-05 11:28:05 +01:00
tdehaeze 47034f56a7 Add analysis for voice coil actuators (uniaxial model) 2019-11-04 18:17:19 +01:00
tdehaeze ae13071c6e Add simscape to compute disturbance transfer functions 2019-11-04 17:39:40 +01:00
tdehaeze 958d07376d Add noise budget to compare active damping techniques 2019-11-04 17:33:30 +01:00
tdehaeze 0812815cca Add schematic to explain sources of perturbation 2019-11-04 15:56:47 +01:00
tdehaeze 1d8c1245c5 Update introduction 2019-11-04 15:53:48 +01:00
tdehaeze 36d1245900 Add analysis of disturbance: extract PSD 2019-11-04 15:47:08 +01:00
tdehaeze 8ae5b526d4 Add small schematic of cedrat actuator 2019-10-29 11:07:14 +01:00
tdehaeze 7682fc64a3 Add analysis about Cedrat Piezo actuators 2019-10-29 10:53:41 +01:00
tdehaeze f6e543ffcc Add Cedrat Actuator 2019-10-28 17:36:20 +01:00
tdehaeze 8b13893099 Analysis of active damping techniques with simscape model 
Some flexibility is added to the sample
 2019-10-25 16:02:23 +02:00
tdehaeze 9e41241e45 Update Analysis 2019-10-25 12:33:08 +02:00
tdehaeze ff8df3a9d0 Add uniaxial folder with analysis of active damping techniques 2019-10-24 17:45:30 +02:00
tdehaeze d235f9c992 Add analysis about active damping techniques 2019-10-18 17:34:45 +02:00
tdehaeze 84f1cc7f76 The system is now quite well tuned 2019-10-16 14:57:03 +02:00
tdehaeze b5353745e0 Axis Compensator has been added 2019-10-16 14:25:25 +02:00
tdehaeze 3745bbebee Add tilt flexibility to granite 2019-10-16 11:18:06 +02:00
tdehaeze cdbd62b3ee Change subaxis to subplot 2019-10-14 16:45:24 +02:00
tdehaeze 075bf199da Minor update 2019-10-14 16:42:53 +02:00
tdehaeze 14d397947a Update index.html 2019-10-08 11:19:45 +02:00
tdehaeze f0b424fb5c Add links to all html pages 2019-10-08 11:13:38 +02:00
tdehaeze f426245fd5 Update main page 2019-10-08 11:03:19 +02:00
tdehaeze b58d7627e4 Add few comments on simscape multibody 2019-07-15 13:36:14 +02:00
tdehaeze 714225ef96 Start the standardize the folder. Add org-mode files. 2019-07-15 11:07:24 +02:00
tdehaeze 56604c28ed Add index html page 2019-07-12 11:53:59 +02:00