#+TITLE: Determination of the optimal nano-hexapod's stiffness
:DRAWER:
#+STARTUP: overview

#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

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:END:

* Introduction                                                        :ignore:
As shown before, many parameters other than the nano-hexapod itself do influence the plant dynamics:
- The micro-station compliance (studied [[file:uncertainty_support.org][here]])
- The payload mass and dynamical properties (studied [[file:uncertainty_payload.org][here]] and [[file:uncertainty_experiment.org][here]])
- The experimental conditions, mainly the spindle rotation speed (studied [[file:uncertainty_experiment.org][here]])

As seen before, the stiffness of the nano-hexapod greatly influence the effect of such parameters.

We wish here to see if we can determine an optimal stiffness of the nano-hexapod such that:
- Section [[sec:spindle_rotation_speed]]: the change of its dynamics due to the spindle rotation speed is acceptable
- Section [[sec:micro_station_compliance]]: the support compliance dynamics is not much present in the nano-hexapod dynamics
- Section [[sec:payload_impedance]]: the change of payload impedance has acceptable effect on the plant dynamics

* Spindle Rotation Speed
<<sec:spindle_rotation_speed>>

** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no
  simulinkproject('../');
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#+begin_src matlab
  open('nass_model.slx')
#+end_src

** Conclusion                                                        :ignore:
* Micro-Station Compliance Effect
<<sec:micro_station_compliance>>

** Introduction                                                      :ignore:
- take the 6dof compliance of the micro-station
- simple model + uncertainty

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no
  simulinkproject('../');
#+end_src

#+begin_src matlab
  open('nass_model.slx')
#+end_src

** Conclusion                                                        :ignore:
* Payload "Impedance" Effect
<<sec:payload_impedance>>

** Introduction                                                      :ignore:

** Matlab Init                                              :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src

#+begin_src matlab :tangle no
  simulinkproject('../');
#+end_src

#+begin_src matlab
  open('nass_model.slx')
#+end_src

** Conclusion                                                        :ignore: