Haptic 3-DOF Pantograph Joint Angles
Converts encoder counts from the Quanser Haptic 3-DOF Pantograph into joint angles.
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 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
The Haptic 3-DOF Pantograph Joint Angles block has no parameters.
Targets
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Target Name |
Compatible* |
Model Referencing |
Comments |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
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Yes |
Yes |
Last fully supported in QUARC 2018. |
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Rapid Simulation (RSIM) Target |
Yes |
Yes |
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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