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Add Stewart Simscape project

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Thomas Dehaeze 2021-01-08 15:11:41 +01:00
parent 9c4772365a
commit 9bfcca4f17
4 changed files with 66 additions and 39 deletions
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3
.gitmodules vendored
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@ -97,3 +97,6 @@
[submodule "test-bench-nass-spindle"] [submodule "test-bench-nass-spindle"]
path = test-bench-nass-spindle path = test-bench-nass-spindle
url = https://git.tdehaeze.xyz/tdehaeze/test-bench-nass-spindle url = https://git.tdehaeze.xyz/tdehaeze/test-bench-nass-spindle
[submodule "stewart-simscape"]
path = stewart-simscape
url = https://git.tdehaeze.xyz/tdehaeze/stewart-simscape

88
index.html
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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2020-12-16 mer. 22:54 --> <!-- 2021-01-08 ven. 15:11 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Research Pages</title> <title>Research Pages</title>
<meta name="generator" content="Org mode" /> <meta name="generator" content="Org mode" />
@ -11,14 +11,23 @@
<link rel="stylesheet" type="text/css" href="css/style.css"/> <link rel="stylesheet" type="text/css" href="css/style.css"/>
<script type="text/javascript" src="js/script.js"></script> <script type="text/javascript" src="js/script.js"></script>
<style> #content {margin: auto;} </style> <style> #content {margin: auto;} </style>
<script>MathJax = { <script>
MathJax = {
svg: {
scale: 1,
fontCache: "global"
},
tex: { tex: {
tags: 'ams', tags: "ams",
macros: {bm: ["\\boldsymbol{#1}",1],} multlineWidth: "%MULTLINEWIDTH",
tagSide: "right",
macros: {bm: ["\\boldsymbol{#1}",1],},
tagIndent: ".8em"
} }
}; };
</script> </script>
<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script> <script id="MathJax-script" async
src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-svg.js"></script>
</head> </head>
<body> <body>
<div id="content"> <div id="content">
@ -27,12 +36,12 @@
Welcome to my research pages. Welcome to my research pages.
</p> </p>
<div id="outline-container-org9479d54" class="outline-2"> <div id="outline-container-orgf5247a8" class="outline-2">
<h2 id="org9479d54"><span class="section-number-2">1</span> Papers</h2> <h2 id="orgf5247a8"><span class="section-number-2">1</span> Papers</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
</div> </div>
<div id="outline-container-orgaaf83b2" class="outline-3"> <div id="outline-container-orgfd50d3c" class="outline-3">
<h3 id="orgaaf83b2"><span class="section-number-3">1.1</span> Conference Papers</h3> <h3 id="orgfd50d3c"><span class="section-number-3">1.1</span> Conference Papers</h3>
<div class="outline-text-3" id="text-1-1"> <div class="outline-text-3" id="text-1-1">
<ul class="org-ul"> <ul class="org-ul">
<li>Dehaeze, T., Mattenet, M. M., &amp; Collette, C., <b>Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty</b>, In MEDSI&rsquo;18 (pp. 153–157) (2018). Geneva, Switzerland: JACoW Publishing. (<a href="dehaeze18_sampl_stabil_for_tomog_exper/index.html">link</a>)</li> <li>Dehaeze, T., Mattenet, M. M., &amp; Collette, C., <b>Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty</b>, In MEDSI&rsquo;18 (pp. 153–157) (2018). Geneva, Switzerland: JACoW Publishing. (<a href="dehaeze18_sampl_stabil_for_tomog_exper/index.html">link</a>)</li>
@ -42,8 +51,8 @@ Welcome to my research pages.
</div> </div>
</div> </div>
<div id="outline-container-orga46ad03" class="outline-3"> <div id="outline-container-org91d9c82" class="outline-3">
<h3 id="orga46ad03"><span class="section-number-3">1.2</span> Journal Papers</h3> <h3 id="org91d9c82"><span class="section-number-3">1.2</span> Journal Papers</h3>
<div class="outline-text-3" id="text-1-2"> <div class="outline-text-3" id="text-1-2">
<ul class="org-ul"> <ul class="org-ul">
<li>Verma, M., Dehaeze, T., Zhao, G., Watchi, J., &amp; Collette, C., <b>Virtual sensor fusion for high precision control, Mechanical Systems and Signal Processing</b>, 150, 107241 (2020). <a href="http://dx.doi.org/10.1016/j.ymssp.2020.107241">http://dx.doi.org/10.1016/j.ymssp.2020.107241</a> (<a href="personnal-papers/verma20_virtual_sensor_fusion_high_precis_contr.pdf">pdf</a>)</li> <li>Verma, M., Dehaeze, T., Zhao, G., Watchi, J., &amp; Collette, C., <b>Virtual sensor fusion for high precision control, Mechanical Systems and Signal Processing</b>, 150, 107241 (2020). <a href="http://dx.doi.org/10.1016/j.ymssp.2020.107241">http://dx.doi.org/10.1016/j.ymssp.2020.107241</a> (<a href="personnal-papers/verma20_virtual_sensor_fusion_high_precis_contr.pdf">pdf</a>)</li>
@ -53,12 +62,12 @@ Welcome to my research pages.
</div> </div>
</div> </div>
<div id="outline-container-org9fabe66" class="outline-2"> <div id="outline-container-org637ec16" class="outline-2">
<h2 id="org9fabe66"><span class="section-number-2">2</span> Useful Pages / Tutorials</h2> <h2 id="org637ec16"><span class="section-number-2">2</span> Useful Pages / Tutorials</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
</div> </div>
<div id="outline-container-org487ef61" class="outline-3"> <div id="outline-container-org9393de5" class="outline-3">
<h3 id="org487ef61"><span class="section-number-3">2.1</span> General Mechatronics</h3> <h3 id="org9393de5"><span class="section-number-3">2.1</span> General Mechatronics</h3>
<div class="outline-text-3" id="text-2-1"> <div class="outline-text-3" id="text-2-1">
<p> <p>
<a href="spectral-analysis/index.html">Spectral Analysis</a> <a href="spectral-analysis/index.html">Spectral Analysis</a>
@ -87,8 +96,8 @@ Several types of linear filters (low pass, high pass, notch, lead, etc.) are pre
</div> </div>
</div> </div>
<div id="outline-container-orga0a5936" class="outline-3"> <div id="outline-container-org2d978c1" class="outline-3">
<h3 id="orga0a5936"><span class="section-number-3">2.2</span> System Modeling using Simscape</h3> <h3 id="org2d978c1"><span class="section-number-3">2.2</span> System Modeling using Simscape</h3>
<div class="outline-text-3" id="text-2-2"> <div class="outline-text-3" id="text-2-2">
<p> <p>
<a href="simscape-fem/index.html">Finite Element Models with Simscape</a> <a href="simscape-fem/index.html">Finite Element Models with Simscape</a>
@ -100,6 +109,15 @@ This document presents how to do so.
</p> </p>
</blockquote> </blockquote>
<p>
<a href="stewart-simscape/index.html">Stewart Platforms modeled with Simscape</a>
</p>
<blockquote>
<p>
The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
</p>
</blockquote>
<p> <p>
<a href="simscape-gravity/index.html">Manage Gravity within Simscape</a> <a href="simscape-gravity/index.html">Manage Gravity within Simscape</a>
</p> </p>
@ -113,12 +131,12 @@ In order to start the simulation at equilibrium, few measured can be employed th
</div> </div>
</div> </div>
<div id="outline-container-orgeff9014" class="outline-2"> <div id="outline-container-org63e266e" class="outline-2">
<h2 id="orgeff9014"><span class="section-number-2">3</span> Test Benches / Experiments</h2> <h2 id="org63e266e"><span class="section-number-2">3</span> Test Benches / Experiments</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-3">
</div> </div>
<div id="outline-container-org0f1d3a2" class="outline-3"> <div id="outline-container-org212d311" class="outline-3">
<h3 id="org0f1d3a2"><span class="section-number-3">3.1</span> Intrumentation Related</h3> <h3 id="org212d311"><span class="section-number-3">3.1</span> Intrumentation Related</h3>
<div class="outline-text-3" id="text-3-1"> <div class="outline-text-3" id="text-3-1">
<p> <p>
<a href="test-bench-piezo-amplifiers/index.html">Voltage Amplifiers for Piezoelectric Actuators</a> <a href="test-bench-piezo-amplifiers/index.html">Voltage Amplifiers for Piezoelectric Actuators</a>
@ -142,8 +160,8 @@ Its noise characteristics as well as non-linearities are measured.
</div> </div>
</div> </div>
<div id="outline-container-org3f4fbcf" class="outline-3"> <div id="outline-container-orgabb4cd3" class="outline-3">
<h3 id="org3f4fbcf"><span class="section-number-3">3.2</span> Amplified Piezoelecric Actuator</h3> <h3 id="orgabb4cd3"><span class="section-number-3">3.2</span> Amplified Piezoelecric Actuator</h3>
<div class="outline-text-3" id="text-3-2"> <div class="outline-text-3" id="text-3-2">
<p> <p>
<a href="test-bench-apa/index.html">Amplified Piezoelectric Actuator - Test bench and Finite Element Model</a> <a href="test-bench-apa/index.html">Amplified Piezoelectric Actuator - Test bench and Finite Element Model</a>
@ -189,12 +207,12 @@ The goal is to form a <i>super sensor</i> that has better noise characteristics
</div> </div>
</div> </div>
<div id="outline-container-orge3cbd1f" class="outline-2"> <div id="outline-container-org02c6af5" class="outline-2">
<h2 id="orge3cbd1f"><span class="section-number-2">4</span> PhD Project - Nano Active Stabilization System</h2> <h2 id="org02c6af5"><span class="section-number-2">4</span> PhD Project - Nano Active Stabilization System</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
</div> </div>
<div id="outline-container-org0a5a43d" class="outline-3"> <div id="outline-container-orge687842" class="outline-3">
<h3 id="org0a5a43d"><span class="section-number-3">4.1</span> General Reports</h3> <h3 id="orge687842"><span class="section-number-3">4.1</span> General Reports</h3>
<div class="outline-text-3" id="text-4-1"> <div class="outline-text-3" id="text-4-1">
<p> <p>
<a href="nass-report-2020/index.html">NASS - Report 2020</a> <a href="nass-report-2020/index.html">NASS - Report 2020</a>
@ -207,8 +225,8 @@ General report on the NASS project made in 2020.
</div> </div>
</div> </div>
<div id="outline-container-org87c821b" class="outline-3"> <div id="outline-container-org185b681" class="outline-3">
<h3 id="org87c821b"><span class="section-number-3">4.2</span> Measurements, Models and Test Benches</h3> <h3 id="org185b681"><span class="section-number-3">4.2</span> Measurements, Models and Test Benches</h3>
<div class="outline-text-3" id="text-4-2"> <div class="outline-text-3" id="text-4-2">
<p> <p>
<a href="nass-micro-station-measurements/index.html">NASS - Micro Station Measurements</a> <a href="nass-micro-station-measurements/index.html">NASS - Micro Station Measurements</a>
@ -250,8 +268,8 @@ First experimental results are presented.
</div> </div>
</div> </div>
<div id="outline-container-org2ec6bcc" class="outline-3"> <div id="outline-container-orgcaf3dc3" class="outline-3">
<h3 id="org2ec6bcc"><span class="section-number-3">4.3</span> Nano-Hexapod</h3> <h3 id="orgcaf3dc3"><span class="section-number-3">4.3</span> Nano-Hexapod</h3>
<div class="outline-text-3" id="text-4-3"> <div class="outline-text-3" id="text-4-3">
<p> <p>
<b>Equipments</b>: <b>Equipments</b>:
@ -284,8 +302,8 @@ First experimental results are presented.
</div> </div>
</div> </div>
<div id="outline-container-orgd6df063" class="outline-2"> <div id="outline-container-org0fbb097" class="outline-2">
<h2 id="orgd6df063"><span class="section-number-2">5</span> Notes</h2> <h2 id="org0fbb097"><span class="section-number-2">5</span> Notes</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
<ul class="org-ul"> <ul class="org-ul">
<li><a href="euspen_2020_notes/notes.html">EUSPEN - 2020 - Notes</a></li> <li><a href="euspen_2020_notes/notes.html">EUSPEN - 2020 - Notes</a></li>
@ -293,8 +311,8 @@ First experimental results are presented.
</div> </div>
</div> </div>
<div id="outline-container-org7183678" class="outline-2"> <div id="outline-container-org8cebc52" class="outline-2">
<h2 id="org7183678"><span class="section-number-2">6</span> Lectures</h2> <h2 id="org8cebc52"><span class="section-number-2">6</span> Lectures</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-6">
<ul class="org-ul"> <ul class="org-ul">
<li><a href="lecture-h-infinity/index.html">H-Infinity - Robust Control</a></li> <li><a href="lecture-h-infinity/index.html">H-Infinity - Robust Control</a></li>

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index.org
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@ -80,6 +80,11 @@ Finite Element Models (FEM) can be included into Simscape Multi-Body models.
This document presents how to do so. This document presents how to do so.
#+end_quote #+end_quote
[[file:stewart-simscape/index.org][Stewart Platforms modeled with Simscape]]
#+begin_quote
The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
#+end_quote
[[file:simscape-gravity/index.org][Manage Gravity within Simscape]] [[file:simscape-gravity/index.org][Manage Gravity within Simscape]]
#+begin_quote #+begin_quote
Gravity can add some problems in multi-body simscape models: at the beginning of the simulation, some sag will be experience that may be unwanted. Gravity can add some problems in multi-body simscape models: at the beginning of the simulation, some sag will be experience that may be unwanted.

1
stewart-simscape Submodule

@ -0,0 +1 @@
Subproject commit 32330b92f0052dbb0895207a857b0a85b7b84e06