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Table of Contents

A465 Joint Torques to Motor Inputs

Deprecated

The A465 Joint Torques to Motor Inputs block has been deprecated and should not be used in new models.

Converts joint torques to motor inputs (voltages or currents) for the CRS A465 robot.

Library

QUARC Targets Deprecated/Devices/Third-Party/CRS/Robots/A465

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

A465 Joint Torques to Motor Inputs

The A465 Joint Torques to Motor Inputs block converts joint torques to motor inputs (voltages or currents) for all six CRS A465 joints.

Input Ports

A 6-vector containing the joint torques. The joint torques should be supplied in a 6-vector, with the elements ordered in accordance with the robot joints, i.e., base, shoulder, elbow, forearm roll, wrist pitch and wrist roll.

Output Ports

The motor inputs (voltages or currents) computed for the six A465 motors from the given joint torques. The motor inputs are generated in a 6-vector with the elements in the same order as the input, i.e., base, shoulder, elbow, forearm roll, wrist pitch and wrist roll.

Data Type Support

This block supports inputs and outputs of type double.

Parameters and Dialog Box

A465 Joint Torques to Motor Inputs

The A465 Joint Torques to Motor Inputs block has no parameters.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

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

* Compatible means that the block can be compiled for the target.

See Also

 

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