Haptic 3-DOF Pantograph Gimbal Switch Haptic 3-DOF Pantograph Motor Currents navigation bar

Table of Contents

Haptic 3-DOF Pantograph Joint Angles

Converts encoder counts from the Quanser Haptic 3-DOF Pantograph into joint angles.

Library

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

Description

Haptic 3-DOF Pantograph Joint Angles

The Haptic 3-DOF Pantograph Joint Angles block converts encoder counts read from the Quanser Haptic 3-DOF Pantograph into joint angles in radians. Use one of the HIL blocks to read the encoders of the Quanser Haptic 3-DOF Pantograph and feed the raw encoder counts (measured with full quadrature) to the input of the Haptic 3-DOF Pantograph Joint Angles block. The encoder counts should be input as a 4-vector in the following order of the joints: The currents are output as a 4-vector in order of the joints: front-top-left, front-top-right, back-bottom-left and back-bottom-right.

For the Quanser Q4 and Q8 cards, encoder channels 3, 2, 1 and 0, in that order, are typically used to read the four joints 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.

Input Ports

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. For example, enter [3 2 1 0] as the encoder channels in a HIL Read Encoder block. The 4X quadrature mode must be used when reading the encoders.

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 Joint Angles

The Haptic 3-DOF Pantograph 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

 

navigation bar