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
Thomas Dehaeze
fb15f22993
Correct the position of the actuator for Ty
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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
3223361d22
Step STEPS files as external files
2018-06-04 09:41:07 +02:00
Thomas Dehaeze
d332373455
[breaking changes] Regenerated the datatfile from simulink
2018-06-04 09:39:14 +02:00
Thomas Dehaeze
86d56eee37
Remove analyse script
2018-06-04 09:35:58 +02:00
Thomas Dehaeze
72fc30b843
Created identification folder
2018-06-04 09:34:40 +02:00
Thomas Dehaeze
c34ed250eb
Rename datafile
2018-06-04 09:32:54 +02:00
Thomas Dehaeze
eff92f631b
Add stewart-simscape as a submodule
2018-06-04 09:28:58 +02:00
Thomas Dehaeze
9f4bf3dfaa
Remove stewart-simscape to use submodules
2018-06-04 09:28:07 +02:00
Thomas Dehaeze
cdc9f9ca70
Update project files
2018-06-04 09:25:59 +02:00
Thomas Dehaeze
0605d91845
Update .gitignore and add stewart-simscape folder
2018-06-04 09:21:24 +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
c513eb8a13
add gravity in data.m file
2018-04-24 15:48:17 +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
