Table of Contents
Haptic 3-DOF Pantograph Cartesian Plant
Represents the Quanser Haptic 3-DOF Pantograph in Cartesian coordinates.
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/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
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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