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Table of Contents

CAT5 Motor Pulses to Joint Angles

Converts motor encoder counts to joint angles for the CRS Catalyst-5 robot.

Library

QUARC Targets/Devices/Third-Party/CRS/Robots/CAT5

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

CAT5 Motor Pulses to Joint Angles

The CAT5 Motor Pulses to Joint Angles block converts encoder counts read from all five CRS CAT5 joints into joint angles in radians.

Input Ports

The encoder counts read from the five CAT5 motors. The encoder counts 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 joint angles, in radians, corresponding to the given encoder counts. The joint angles are supplied 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

CAT5 Motor Pulses to Joint Angles

The CAT5 Motor Pulses to Joint Angles block has no parameters.

Targets

Target Name

Compatible*

Model Referencing

Comments

QUARC Win32 Target

Yes

Yes

QUARC Win64 Target

Yes

Yes

QUARC Linux Nvidia Target

Yes

Yes

QUARC Linux QBot Platform Target

Yes

Yes

QUARC Linux QCar 2 Target

Yes

Yes

QUARC Linux QDrone 2 Target

Yes

Yes

QUARC Linux Raspberry Pi 3 Target

Yes

Yes

QUARC Linux Raspberry Pi 4 Target

Yes

Yes

QUARC Linux RT ARMv7 Target

Yes

Yes

QUARC Linux x64 Target

Yes

Yes

QUARC Linux DuoVero Target

Yes

Yes

QUARC Linux DuoVero 2016 Target

Yes

Yes

QUARC Linux Verdex Target

Yes

Yes

QUARC QNX x86 Target

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

* Compatible means that the block can be compiled for the target.

See Also

 

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