CAT5 Inverse Kinematics
Converts cartesian world coordinates to joint angles for the CRS Catalyst-5 robot.
Library
QUARC Targets/Devices/Third-Party/CRS/Robots/CAT5
Description
The CAT5 Inverse Kinematics block converts world coordinates to joint angles for the CRS Catalyst-5 robot. Since there are singularities in the workspace, the block uses the previous joint angles to arrive at a suitable configuration. The previous joint angles are maintained by the block itself. It uses the joint angle output from the previous iteration. Look under the block mask for more details. The reference frame is shown below:
Input 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. Note that yaw is the rotation about the Z-axis, pitch is the rotation about the Y-axis and roll is the rotation about the X-axis.
Output Ports
Joint Angles
The joint angles (in radians) for the five Catalyst-5 joints. The joint angles are produced as a 5-vector in order of the joints, i.e., base, shoulder, elbow, wrist pitch and wrist roll.
Error
A scalar denoting whether a solution could be found. An error code of zero indicates that a solution was found. The possible error codes and their meaning are listed in the table below.
|
Code |
Error |
|---|---|
|
0 |
No error. A solution was found. |
|
1 |
Out of range error. One or more joints have exceeded their positive or negative joint limits. |
|
2 |
Illegal transform. No valid inverse kinematics solution was found that fell within the joint limits. |
|
3 |
Out of reach. The given location is outside the workspace of the robot. |
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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