Haptic 3-DOF Pantograph Cartesian Plant

Represents the Quanser Haptic 3-DOF Pantograph in Cartesian coordinates.

Library

QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 3-DOF Planar Pantograph/Interfacing

Description

The Haptic 3-DOF Pantograph Cartesian Plant block represents Quanser's Haptic 3-DOF Pantograph in Cartesian space so that control may be done in task space rather than joint space. The reference frame is shown below:

It takes the X and Y forces to be exerted in Cartesian space, as well as the torque for the other degree-of-freedom, and outputs the voltages necessary to drive the amplifiers to produce those forces and torque. It also takes the encoder readings from the joints and outputs the end-effector coordinates in Cartesian space. Forces are expressed in N and torques in N-mm. The end-effector coordinates are expressed in mm for the X and Y coordinates, and in radians for the orientation coordinate. Use HIL blocks to read the encoders of the Haptic 3-DOF Pantograph and write the voltages to analog outputs driving the Haptic 3-DOF Pantograph amplifiers.

For the Quanser Q4 and Q8 cards, analog output channels 3, 2, 1 and 0, in that order, are typically used to write to the four joint motors of the Quanser Haptic 3-DOF Pantograph, with channels 3, 2, 1 and 0 corresponding to the joints in the required order of front-top-left, front-top-right, back-bottom-left and back-bottom-right respectively. Likewise, encoder input channels 3, 2, 1 and 0 are typically used to read the encoder counts of the same four joints.

Input Ports

forces

The forces and torque in Cartesian coordinates with which to drive the Haptic 3-DOF Pantograph end-effector. The input is a 3-vector, with the first two elements being the X and Y forces in N and the last element being the torque in N-mm.

encs

The raw encoder counts measured from the four joints. The encoder counts must be input as a 4-vector in order of the joints, i.e., front-top-left, front-top-right, back-bottom-left and back-bottom-right. The 4X quadrature mode must be used when reading the encoders.

Output Ports

coords

The Cartesian coordinates of the end-effector of the Haptic 3-DOF Pantograph. The first two elements are the X and Y coordinates in mm and the last element is the orientation in radians.

volts

The voltages required at the analog outputs to produce the desired motor currents for the four joints. The voltages are output as a 4-vector in order of the joints, i.e., front-top-left, front-top-right, back-bottom-left and back-bottom-right.

Data Type Support

This block supports inputs and outputs of type double.

Parameters and Dialog Box

The Haptic 3-DOF Pantograph Cartesian Plant block has no parameters.

Targets

See Also

• Haptics

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