CAT5 Joint Torques to Motor Inputs
The CAT5 Joint Torques to Motor Inputs block has been deprecated and should not be used in new models.
Converts joint torques to motor inputs (voltages or currents) for the CRS Catalyst-5 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/CAT5')Description
The CAT5 Joint Torques to Motor Inputs block converts joint torques to motor inputs (voltages or currents) for all five CRS Catalyst-5 joints.
Input Ports
A 5-vector containing the joint torques. The joint torques should be supplied in a 5-vector, with the elements ordered in accordance with the robot joints, i.e., base, shoulder, elbow, wrist pitch and wrist roll.
Output Ports
The motor inputs (voltages or currents) computed for the five Catalyst-5 motors from the given joint torques. The motor inputs are generated in a 5-vector with the elements in the same order as the input, i.e., base, shoulder, elbow, wrist pitch and wrist roll.
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
The CAT5 Joint Torques to Motor Inputs block has no parameters.
Targets
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Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
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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 |
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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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