A465 Joint Angles to World Coordinates
| The A465 Joint Angles to World Coordinates block has been deprecated and should not be used in new models. |
Converts joint angles to world coordinates for the CRS A465 robot.
Library
QUARC Targets Deprecated/Devices/Third-Party/CRS/Robots/A465
Description
The A465 Joint Angles to World Coordinates block converts joint angles to world coordinates (position and orientation of the robot end-effector) for the CRS A465 robot. The reference frame is shown below:
Input Ports
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
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.
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
The A465 Joint Angles to World Coordinates block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
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|
Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
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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
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