fab78b6527
Work on Control (HAC-LAC) + Models
2020-03-13 17:40:22 +01:00
493268638b
Removed many unused mat files
2020-03-13 17:37:54 +01:00
ceefaa91a3
Change all the organization of the files
2020-02-25 18:10:20 +01:00
12c2e4a508
Huge Update
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- Modify the joints for Ty, Ry, Rz to have only one bushing joint.
- Compensation of gravity
2020-02-25 17:49:08 +01:00
b40079d6e6
Add logging conf and init function associated
2020-02-18 13:58:40 +01:00
aa2f3254c2
Configurable Model: stages (solid/flexible)
2020-02-17 18:21:20 +01:00
117430c8d1
Now the Plant is correct
2020-01-22 17:56:47 +01:00
24f44f5477
[BRK] Update the nano-hexapod Simscape model
2020-01-22 17:42:21 +01:00
b2ed7cbd63
Add accelerometer to the stewart platform
2020-01-20 17:21:11 +01:00
fe26a724f1
Update active damping analysis: add IFF + HPF
2020-01-20 17:20:50 +01:00
c6a4e5343e
Important change for the implementation of motion input
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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
65e246ff4c
Add flexible hexapod initialized in the wanted configuration
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Change the tomography experiment simulation
Add simulink "matlab function" to compute the position error
2019-12-17 08:28:20 +01:00
b4180feded
Tomography Experiment with and without disturbances
2019-12-13 19:07:54 +01:00
73a3735f19
Modal Analysis of the Micro Station
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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
960afc6b0a
Update one html
2019-12-13 11:06:40 +01:00
1125a9b1ea
[major-change] start to change the axis of all stages to match id31
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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
7b5f932ece
Update the "positioning_error" computation file
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Removed unused analysis
2019-12-12 13:48:39 +01:00
6af5593c16
Change the reference to the correct hexapod leg
2019-12-12 13:18:03 +01:00
2390c20d92
Change the location of "conf_simscape.mat"
2019-12-11 17:07:04 +01:00
ce9ec2cced
Add mat files
2019-12-11 15:08:42 +01:00
f73becd5c9
Update all the functions
2019-12-06 12:03:34 +01:00
946e897719
Remove sim_conf
2019-12-04 10:32:07 +01:00
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
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
7575aee987
Add metrology element (change of base, computation of error)
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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
14259c7e67
[WIP] Change inputs.mat elements
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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
dcfe29b026
[WIP] Create sub-folders for STEP files
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Include step path into smidata object
2018-10-11 10:25:57 +02:00
Thomas Dehaeze
f0e83d7c39
Huge Change
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- Add may folders
- Add IFF and HAC-LAC scripts
2018-10-07 22:07:21 +02:00
Thomas Dehaeze
b347442859
Add metrology mirror initialization. Change J-height of hexapods
2018-07-11 15:44:16 +02:00
Thomas Dehaeze
9678f43e5f
Update all .mat files
2018-06-21 11:46:11 +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
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.
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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
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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
