tdehaeze/nass-simscape
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Author SHA1 Message Date
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
ef6f4613b1 Add script to identify tf from force to displacement of the legs 2018-10-29 13:40:27 +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
5e6f1dbc38 Create nass_library folder, use some referenced models 2018-10-25 14:06:37 +02:00
Thomas Dehaeze
eb8f58c402 Rename inputs, add pictures to nass_library 2018-10-25 13:12:07 +02:00
Thomas Dehaeze
abe9a2ffdd Add NASS LIBRARY for simscape 2018-10-25 11:00:30 +02:00
Thomas Dehaeze
5aa652167f Add Org Mode file to make a report 2018-10-25 10:59:30 +02:00
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
baedb9b571 Add startup and shutdown scripts to project 2018-10-16 13:28:21 +02:00
Thomas Dehaeze
f3b937b3f9 Add projectstartup and shutdown scripts 2018-10-16 13:25:05 +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
bf0e7d7378 Ignore simulink cache 2018-10-07 22:09:02 +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
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