Table of Contents
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
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/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 |
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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 |
||
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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