68 lines
3.0 KiB
Org Mode
68 lines
3.0 KiB
Org Mode
#+TITLE: Metrology
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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/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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* Introduction :ignore:
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The global measurement and control schematic is shown in figure [[fig:control-schematic-nass]].
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#+name: fig:control-schematic-nass
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#+caption: Global Control Schematic for the Station
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[[file:figs/control-schematic-nass.png]]
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In this document, are interesting by the "compute Sample Position w.r.t. Granite" bloc.
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First, in section [[sec:measurement_principle]], is explained how the measurement of the position of the sample with respect to the granite is performed (using Simscape blocs).
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* How do we measure the position of the sample with respect to the granite
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<<sec:measurement_principle>>
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A transform sensor block gives the translation and orientation of the follower frame with respect to the base frame.
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The base frame is fixed to the granite and located at the initial sample location that defines the zero position.
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The follower frame is attached to the sample (or more precisely to the reflector).
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The outputs of the transform sensor are:
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- the 3 translations x, y and z in meter
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- the *rotation matrix* $\bm{R}$ that permits to rotate the base frame into the follower frame.
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We can then determine extract other orientation conventions such that Euler angles or screw axis.
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