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Haptic 3-DOF Pantograph N-mm to Amps

Converts joint torques to motor currents for the Quanser Haptic 3-DOF Pantograph.

Library

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

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

Haptic 3-DOF Pantograph N-mm to Amps

The Haptic 3-DOF Pantograph N-mm to Amps block converts the desired joint torques in N-mm to the corresponding motor currents in amperes required to produce those torques. The input must be a 4-vector in the following order of the joints: front-top-left, front-top-right, back-bottom-left and back-bottom-right. The output is a 4-vector in the same order. Use the Haptic 3-DOF Pantograph Motors block to determine the voltages required to produce the motor currents output by the Haptic 3-DOF Pantograph N-mm to Amps block.

For the Quanser Q4 or Q8 card, 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. For example, enter [3 2 1 0] as the analog channels in a HIL Write Analog block.

Input Ports

The input to this block is the joint torques in N-mm with which to drive each of the four joints of the Haptic 3-DOF Pantograph. The input is a 4-vector in order of the joints: front-top-left, front-top-right, back-bottom-left and back-bottom-right.

Output Ports

The output is the current in amperes required to drive the motors to produce the desired joint torques, for each of the four joints. The output is a 4-vector in order of the joints: 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 N-mm to Amps

The Haptic 3-DOF Pantograph N-mm to Amps 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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