89 lines
2.2 KiB
Matlab
89 lines
2.2 KiB
Matlab
% computeReferencePose
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% :PROPERTIES:
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% :header-args:matlab+: :comments none :mkdirp yes
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% :header-args:matlab+: :comments org :mkdirp yes
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% :header-args:matlab+: :eval no :results none
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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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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) = Rnx*Rny*Rnz;
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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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