A465 Forward Kinematics
| The A465 Forward Kinematics block has been deprecated and should not be used in new models. |
Converts joint angles to cartesian world coordinates and stance for the CRS A465 robot.
Library
QUARC Targets Deprecated/Devices/Third-Party/CRS/Robots/A465
Description
The A465 Forward Kinematics block converts joint angles to world coordinates (position and orientation of the robot end-effector) and stance for the CRS A465 robot. The reference frame is shown below:
Input Ports
Joint Angles
The joint angles in radians for the six A465 joints. The joint angles should be supplied as a 6-vector in order of the joints, i.e., base, shoulder, elbow, forearm roll, wrist pitch, and wrist roll.
Output Ports
World Coordinates
A 6-vector containing the position and orientation of the robot end-effector. The vector elements represent the X, Y, and Z cartesian coordinates of the end-effector in millimeters, followed by the yaw, pitch, and roll, respectively, in radians.
Stance
A 3-vector representing the desired stance of the robot. The elements and their possible values are defined in the table below:
|
Element |
Stance = 0 |
Stance = 1 |
|---|---|---|
|
1 |
reaching backward |
reaching forward |
|
2 |
elbow down |
elbow up |
|
3 |
wrist flipped |
wrist not flipped |
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
The A465 Forward Kinematics block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
|
S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
Copyright ©2024 Quanser Inc. This page was generated 2024-04-16. Submit feedback to Quanser about this page.
Link to this page.
