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
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library_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 |
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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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
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