A465 Motor Pulses to Joint Angles
| The A465 Motor Pulses to Joint Angles block has been deprecated and should not be used in new models. |
Converts motor encoder counts to joint angles 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 Motor Pulses to Joint Angles block converts encoder counts read from all six CRS A465 joints into joint angles in radians.
Input Ports
The encoder counts read from the six A465 motors. The encoder counts 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 joint angles, in radians, corresponding to the given encoder counts. The joint angles are supplied 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
The A465 Motor Pulses to Joint Angles block has no parameters.
Targets
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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 |
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|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
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Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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