A465 Stance
| The A465 Stance block has been deprecated and should not be used in new models. |
Outputs the stance corresponding to the given joint angles for the CRS A465 robot.
Library
QUARC Targets Deprecated/Devices/Third-Party/CRS/Robots/A465
Description
The A465 Stance block outputs the stance corresponding to the given joint angles for the CRS A465 robot.
The A465 Stance block produces a stance signal that represents the current robot pose. The stance output is useful because the robot can in general achieve the same position and orientation of the end-effector via eight different joint configurations. The stance output differentiates between these configurations and is useful as an input to the A465 Inverse Kinematics or A465 World to Joint blocks.
Note that the A465 Stance block also provides a stance output and is generally used instead of this block.
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 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 Stance 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
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