Analysis of the force sensor stiffness
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figs/force_sensor_stiffness_fit.pdf
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figs/force_sensor_stiffness_fit.pdf
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figs/force_sensor_stiffness_fit.png
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figs/force_sensor_stiffness_fit.png
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@ -1044,7 +1044,6 @@ addpath('./matlab/');
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addpath('./mat/');
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#+end_src
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*** Analysis :ignore:
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Let's load the measurement data.
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@ -1115,7 +1114,7 @@ exportFig('figs/force_noise_asd.pdf', 'width', 'wide', 'height', 'normal');
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[[file:figs/force_noise_asd.png]]
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** TODO Force Sensor Stiffness
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** Force Sensor Stiffness
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*** Introduction :ignore:
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The objective of this measurement is to estimate the stiffness of the force sensor [[file:doc/A700000007147087.pdf][FC2231-0000-0010-L]].
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@ -1157,25 +1156,56 @@ addpath('./mat/');
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Let's load the measured force as well as the measured displacement.
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#+begin_src matlab
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%% Load measurement data
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load('force_sensor_stiff_meas.mat', 't', 'F', 'd')
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load('force_sensor_stiffness_meas.mat', 't', 'F', 'd')
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#+end_src
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Some pre-processing is applied on the data.
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#+begin_src matlab
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%% Remove offset
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F = F - mean(F(t > 0.5 & t < 1.0));
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%% Select important part of data
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F = F( t > 1.55 & t < 4.65);
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d = d( t > 1.55 & t < 4.65);
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F = F( t > 4.55 & t < 7.24);
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d = d( t > 4.55 & t < 7.24); d = d - d(1);
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t = t( t > 4.55 & t < 7.24);
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#+end_src
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The linear fit is performed.
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#+begin_src matlab
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%% Linear fit
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fit_k = polyfit(F, d, 1);
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#+end_src
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#+begin_src matlab
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%% Force Sensor Stiffness
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fit_k(1)
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The displacement as a function of the force as well as the linear fit are shown in Figure [[fig:force_sensor_stiffness_fit]].
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#+begin_src matlab :exports none
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figure;
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hold on;
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plot(F, 1e6*d, '-', 'DisplayName', 'Raw Data');
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plot(F([1,end]), 1e6*(F([1,end])*fit_k(1) + fit_k(2)), '--', 'DisplayName', 'Line Fit');
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hold off;
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xlabel('Force [$N$]'); ylabel('Displacement [$\mu m$]');
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xlim([0,45]); ylim([0,60]);
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legend('location', 'southeast');
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/force_sensor_stiffness_fit.pdf', 'width', 'wide', 'height', 'normal');
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#+end_src
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#+name: fig:force_sensor_stiffness_fit
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#+caption: Displacement as a function of the measured force
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#+RESULTS:
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[[file:figs/force_sensor_stiffness_fit.png]]
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And we obtain the following stiffness:
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#+begin_src matlab :results value replace :exports results
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%% Force Sensor Stiffness
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sprintf('k = %.2f [N/um]', 1e-6*1/fit_k(1));
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#+end_src
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#+RESULTS:
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: k = 0.76 [N/um]
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* Bending Stiffness Measurement
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:PROPERTIES:
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:header-args:matlab+: :tangle ./matlab/bending_stiff_meas.m
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