Haptic 3-DOF Pantograph Velocity Kinematics
Converts joint angular velocities to cartesian world coordinate velocities for the Quanser Haptic 3-DOF Pantograph.
Library
QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 3-DOF Planar Pantograph/Kinematics
Description
The Haptic 3-DOF Pantograph Velocity Kinematics block converts joint angular velocities to cartesian world coordinate velocities for the Quanser Haptic 3-DOF Pantograph. The reference frame is shown below:
Input Ports
angs
The joint angles in radians for the four joints. The joint angles should be supplied as a 4-vector in order of the joints, i.e., front-top-left, front-top-right, back-bottom-left and back-bottom-right.
vels
The joint angular velocities in radians per second for the four joints. The joint angular velocities should be supplied as a 4-vector in order of the joints, i.e., front-top-left, front-top-right, back-bottom-left and back-bottom-right.
Output Ports
world vels
The translational velocities and angular velocities of the robot end-effector as a 3-vector: X and Y velocities in millimeters per second, and angular velocity in radians per second.
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
The Haptic 3-DOF Pantograph Velocity Kinematics block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
Yes |
Yes |
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|
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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