163 lines
5.1 KiB
Org Mode
163 lines
5.1 KiB
Org Mode
#+TITLE: Matlab Functions used for the NASS Project
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:DRAWER:
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#+STARTUP: overview
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ./index.html
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#+HTML_LINK_UP: ./index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
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#+HTML_MATHJAX: align: center tagside: right font: TeX
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle no
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:shell :eval no-export
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results raw replace :buffer no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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:END:
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* computeReferencePose
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/computeReferencePose.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:computeReferencePose>>
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This Matlab function is accessible [[file:src/computeReferencePose.m][here]].
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#+begin_src matlab
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function [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn)
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% computeReferencePose - Compute the homogeneous transformation matrix corresponding to the wanted pose of the sample
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%
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% Syntax: [WTr] = computeReferencePose(Dy, Ry, Rz, Dh, Dn)
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%
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% Inputs:
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% - Dy - Reference of the Translation Stage [m]
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% - Ry - Reference of the Tilt Stage [rad]
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% - Rz - Reference of the Spindle [rad]
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% - Dh - Reference of the Micro Hexapod (Pitch, Roll, Yaw angles) [m, m, m, rad, rad, rad]
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% - Dn - Reference of the Nano Hexapod [m, m, m, rad, rad, rad]
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%
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% Outputs:
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% - WTr -
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%% Translation Stage
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Rty = [1 0 0 0;
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0 1 0 Dy;
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0 0 1 0;
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0 0 0 1];
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%% Tilt Stage - Pure rotating aligned with Ob
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Rry = [ cos(Ry) 0 sin(Ry) 0;
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0 1 0 0;
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-sin(Ry) 0 cos(Ry) 0;
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0 0 0 1];
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%% Spindle - Rotation along the Z axis
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Rrz = [cos(Rz) -sin(Rz) 0 0 ;
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sin(Rz) cos(Rz) 0 0 ;
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0 0 1 0 ;
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0 0 0 1 ];
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%% Micro-Hexapod
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Rhx = [1 0 0;
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0 cos(Dh(4)) -sin(Dh(4));
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0 sin(Dh(4)) cos(Dh(4))];
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Rhy = [ cos(Dh(5)) 0 sin(Dh(5));
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0 1 0;
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-sin(Dh(5)) 0 cos(Dh(5))];
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Rhz = [cos(Dh(6)) -sin(Dh(6)) 0;
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sin(Dh(6)) cos(Dh(6)) 0;
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0 0 1];
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Rh = [1 0 0 Dh(1) ;
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0 1 0 Dh(2) ;
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0 0 1 Dh(3) ;
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0 0 0 1 ];
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Rh(1:3, 1:3) = Rhz*Rhy*Rhx;
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%% Nano-Hexapod
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Rnx = [1 0 0;
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0 cos(Dn(4)) -sin(Dn(4));
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0 sin(Dn(4)) cos(Dn(4))];
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Rny = [ cos(Dn(5)) 0 sin(Dn(5));
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0 1 0;
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-sin(Dn(5)) 0 cos(Dn(5))];
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Rnz = [cos(Dn(6)) -sin(Dn(6)) 0;
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sin(Dn(6)) cos(Dn(6)) 0;
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0 0 1];
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Rn = [1 0 0 Dn(1) ;
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0 1 0 Dn(2) ;
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0 0 1 Dn(3) ;
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0 0 0 1 ];
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Rn(1:3, 1:3) = Rnz*Rny*Rnx;
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%% Total Homogeneous transformation
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WTr = Rty*Rry*Rrz*Rh*Rn;
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end
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#+end_src
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* Compute the Sample Position Error w.r.t. the NASS
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:PROPERTIES:
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:header-args:matlab+: :tangle ../src/computeSampleError.m
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:header-args:matlab+: :comments none :mkdirp yes :eval no
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:END:
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<<sec:computeSampleError>>
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This Matlab function is accessible [[file:src/computeSampleError.m][here]].
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#+begin_src matlab
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function [MTr] = computeSampleError(WTm, WTr)
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% computeSampleError -
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%
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% Syntax: [MTr] = computeSampleError(WTm, WTr)
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%
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% Inputs:
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% - WTm - Homoegeneous transformation that represent the
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% wanted pose of the sample with respect to the granite
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% - WTr - Homoegeneous transformation that represent the
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% measured pose of the sample with respect to the granite
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%
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% Outputs:
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% - MTr - Homoegeneous transformation that represent the
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% wanted pose of the sample expressed in a frame
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% attached to the top platform of the nano-hexapod
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MTr = zeros(4,4);
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MTr = [WTm(1:3,1:3)', -WTm(1:3,1:3)'*WTm(1:3,4) ; 0 0 0 1]*WTr;
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end
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#+end_src
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