Analyze measurements with encoders fixed to plates
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@@ -0,0 +1,48 @@
|
||||
function [ref] = generateXYZTrajectory(args)
|
||||
% generateXYZTrajectory -
|
||||
%
|
||||
% Syntax: [ref] = generateXYZTrajectory(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args
|
||||
%
|
||||
% Outputs:
|
||||
% - ref - Reference Signal
|
||||
|
||||
arguments
|
||||
args.points double {mustBeNumeric} = zeros(2, 3) % [m]
|
||||
|
||||
args.ti (1,1) double {mustBeNumeric, mustBePositive} = 1 % Time to go to first point and after last point [s]
|
||||
args.tw (1,1) double {mustBeNumeric, mustBePositive} = 0.5 % Time wait between each point [s]
|
||||
args.tm (1,1) double {mustBeNumeric, mustBePositive} = 1 % Motion time between points [s]
|
||||
|
||||
args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-3 % Sampling Time [s]
|
||||
end
|
||||
|
||||
time_i = 0:args.Ts:args.ti;
|
||||
time_w = 0:args.Ts:args.tw;
|
||||
time_m = 0:args.Ts:args.tm;
|
||||
|
||||
% Go to initial position
|
||||
xyz = (args.points(1,:))'*(time_i/args.ti);
|
||||
|
||||
% Wait
|
||||
xyz = [xyz, xyz(:,end).*ones(size(time_w))];
|
||||
|
||||
% Scans
|
||||
for i = 2:size(args.points, 1)
|
||||
% Go to next point
|
||||
xyz = [xyz, xyz(:,end) + (args.points(i,:)' - xyz(:,end))*(time_m/args.tm)];
|
||||
% Wait a litle bit
|
||||
xyz = [xyz, xyz(:,end).*ones(size(time_w))];
|
||||
end
|
||||
|
||||
% End motion
|
||||
xyz = [xyz, xyz(:,end) - xyz(:,end)*(time_i/args.ti)];
|
||||
|
||||
t = 0:args.Ts:args.Ts*(length(xyz) - 1);
|
||||
|
||||
ref = zeros(length(xyz), 7);
|
||||
|
||||
ref(:, 1) = t;
|
||||
ref(:, 2:4) = xyz';
|
||||
@@ -0,0 +1,83 @@
|
||||
function [ref] = generateYZScanTrajectory(args)
|
||||
% generateYZScanTrajectory -
|
||||
%
|
||||
% Syntax: [ref] = generateYZScanTrajectory(args)
|
||||
%
|
||||
% Inputs:
|
||||
% - args
|
||||
%
|
||||
% Outputs:
|
||||
% - ref - Reference Signal
|
||||
|
||||
arguments
|
||||
args.y_tot (1,1) double {mustBeNumeric} = 10e-6 % [m]
|
||||
args.z_tot (1,1) double {mustBeNumeric} = 10e-6 % [m]
|
||||
|
||||
args.n (1,1) double {mustBeInteger, mustBePositive} = 10 % [-]
|
||||
|
||||
args.Ts (1,1) double {mustBeNumeric, mustBePositive} = 1e-4 % [s]
|
||||
|
||||
args.ti (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
|
||||
args.tw (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
|
||||
args.ty (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
|
||||
args.tz (1,1) double {mustBeNumeric, mustBePositive} = 1 % [s]
|
||||
end
|
||||
|
||||
time_i = 0:args.Ts:args.ti;
|
||||
time_w = 0:args.Ts:args.tw;
|
||||
time_y = 0:args.Ts:args.ty;
|
||||
time_z = 0:args.Ts:args.tz;
|
||||
|
||||
% Go to initial position
|
||||
y = (time_i/args.ti)*(args.y_tot/2);
|
||||
|
||||
% Wait
|
||||
y = [y, y(end)*ones(size(time_w))];
|
||||
|
||||
% Scans
|
||||
for i = 1:args.n
|
||||
if mod(i,2) == 0
|
||||
y = [y, -(args.y_tot/2) + (time_y/args.ty)*args.y_tot];
|
||||
else
|
||||
y = [y, (args.y_tot/2) - (time_y/args.ty)*args.y_tot];
|
||||
end
|
||||
|
||||
if i < args.n
|
||||
y = [y, y(end)*ones(size(time_z))];
|
||||
end
|
||||
end
|
||||
|
||||
% Wait a litle bit
|
||||
y = [y, y(end)*ones(size(time_w))];
|
||||
|
||||
% End motion
|
||||
y = [y, y(end) - y(end)*time_i/args.ti];
|
||||
|
||||
% Go to initial position
|
||||
z = (time_i/args.ti)*(args.z_tot/2);
|
||||
|
||||
% Wait
|
||||
z = [z, z(end)*ones(size(time_w))];
|
||||
|
||||
% Scans
|
||||
for i = 1:args.n
|
||||
z = [z, z(end)*ones(size(time_y))];
|
||||
|
||||
if i < args.n
|
||||
z = [z, z(end) - (time_z/args.tz)*args.z_tot/(args.n-1)];
|
||||
end
|
||||
end
|
||||
|
||||
% Wait a litle bit
|
||||
z = [z, z(end)*ones(size(time_w))];
|
||||
|
||||
% End motion
|
||||
z = [z, z(end) - z(end)*time_i/args.ti];
|
||||
|
||||
t = 0:args.Ts:args.Ts*(length(y) - 1);
|
||||
|
||||
ref = zeros(length(y), 7);
|
||||
|
||||
ref(:, 1) = t;
|
||||
ref(:, 3) = y;
|
||||
ref(:, 4) = z;
|
||||
@@ -0,0 +1,34 @@
|
||||
function [J] = getJacobianNanoHexapod(Hbm)
|
||||
% getJacobianNanoHexapod -
|
||||
%
|
||||
% Syntax: [J] = getJacobianNanoHexapod(Hbm)
|
||||
%
|
||||
% Inputs:
|
||||
% - Hbm - Height of {B} w.r.t. {M} [m]
|
||||
%
|
||||
% Outputs:
|
||||
% - J - Jacobian Matrix
|
||||
|
||||
Fa = [[-86.05, -74.78, 22.49],
|
||||
[ 86.05, -74.78, 22.49],
|
||||
[ 107.79, -37.13, 22.49],
|
||||
[ 21.74, 111.91, 22.49],
|
||||
[-21.74, 111.91, 22.49],
|
||||
[-107.79, -37.13, 22.49]]'*1e-3; % Ai w.r.t. {F} [m]
|
||||
|
||||
Mb = [[-28.47, -106.25, -22.50],
|
||||
[ 28.47, -106.25, -22.50],
|
||||
[ 106.25, 28.47, -22.50],
|
||||
[ 77.78, 77.78, -22.50],
|
||||
[-77.78, 77.78, -22.50],
|
||||
[-106.25, 28.47, -22.50]]'*1e-3; % Bi w.r.t. {M} [m]
|
||||
|
||||
H = 95e-3; % Stewart platform height [m]
|
||||
Fb = Mb + [0; 0; H]; % Bi w.r.t. {F} [m]
|
||||
|
||||
si = Fb - Fa;
|
||||
si = si./vecnorm(si); % Normalize
|
||||
|
||||
Bb = Mb - [0; 0; Hbm];
|
||||
|
||||
J = [si', cross(Bb, si)'];
|
||||
@@ -0,0 +1,23 @@
|
||||
function [M] = getTransformationMatrixAcc(Opm, Osm)
|
||||
% getTransformationMatrixAcc -
|
||||
%
|
||||
% Syntax: [M] = getTransformationMatrixAcc(Opm, Osm)
|
||||
%
|
||||
% Inputs:
|
||||
% - Opm - Nx3 (N = number of accelerometer measurements) X,Y,Z position of accelerometers
|
||||
% - Opm - Nx3 (N = number of accelerometer measurements) Unit vectors representing the accelerometer orientation
|
||||
%
|
||||
% Outputs:
|
||||
% - M - Transformation Matrix
|
||||
|
||||
M = zeros(length(Opm), 6);
|
||||
|
||||
for i = 1:length(Opm)
|
||||
Ri = [0, Opm(3,i), -Opm(2,i);
|
||||
-Opm(3,i), 0, Opm(1,i);
|
||||
Opm(2,i), -Opm(1,i), 0];
|
||||
M(i, 1:3) = Osm(:,i)';
|
||||
M(i, 4:6) = Osm(:,i)'*Ri;
|
||||
end
|
||||
|
||||
end
|
||||
+2395
-215
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Load diff
+3989
-138
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Load diff
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Reference in new issue
Block a user