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Haptic 3-DOF Pantograph Inverse Kinematics

Converts cartesian world coordinates to joint angles for the Quanser Haptic 3-DOF Pantograph.

Library

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

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/Kinematics')

Description

Haptic 3-DOF Pantograph Inverse Kinematics

The Haptic 3-DOF Pantograph Inverse Kinematics block converts cartesian world coordinates to joint angles for the Quanser 3-DOF Pantograph. The reference frame is shown below:

3-DOF Pantograph Reference Frame

Input Ports

world

The position and orientation of the robot end-effector as a 3-vector: X and Y coordinates in millimeters, and orientation, θ, in radians.

Output Ports

angs

The joint angles in radians for the four joints. The joint angles 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

Haptic 3-DOF Pantograph Inverse Kinematics

The Haptic 3-DOF Pantograph Inverse Kinematics 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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