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
Description
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
The CAT5 Motor Pulses to Joint Angles block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
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|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
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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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