CAT5 Forward Kinematics
Converts joint angles to cartesian world coordinates for the CRS Catalyst-5 robot. This block is actually equivalent to the CAT 5 Joint Angles to World Coordinates block.
Library
QUARC Targets/Devices/Third-Party/CRS/Robots/CAT5
Description
The CAT5 Forward Kinematics block converts joint angles to world coordinates for the CRS Catalyst-5 robot. This block is functionally equivalent to the CAT 5 Joint to World block. The reference frame is shown below:
Input Ports
The joint angles in radians for the five Catalyst-5 joints. The joint angles should be supplied as a 5-vector in order of the joints, i.e., base, shoulder, elbow, wrist pitch and wrist roll.
Output Ports
A 5-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 pitch and roll respectively, in radians.
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
Toolset Dimension (mm)
Three-element vector taht defines the dimension of the toolset attached to the end effector, if any.
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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