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Table of Contents

Haptic 5-DOF Wand Cartesian Plant

Represents the Quanser Haptic 5-DOF Wand in Cartesian coordinates

Library

QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 5-DOF Wand/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 5-DOF Wand/Interfacing')

Description

Haptic 5-DOF Wand Cartesian Plant

The Haptic 5-DOF Wand Cartesian Plant block represents Quanser's Haptic 5DOF Wand in Cartesian space so that control may be done in task space rather than joint space. It takes the X, Y, Z forces to be exerted in Cartesian space, as well as the torques for the other two degrees-of-freedom, and outputs the voltages necessary to drive the amplifiers to produce those forces and torques. It also takes the encoder readings from the joints and outputs the end-effector coordinates in Cartesian space. Forces are expressed in N and torques in N-mm. The end-effector coordinates are expressed in mm for the X, Y and Z coordinates, and in radians for the yaw and roll coordinates. Use HIL blocks to read the encoders of the Haptic 5-DOF Wand and write the voltages to analog outputs driving the Haptic 5-DOF Wand amplifiers.

For the Quanser Q8 card, analog output channels 0 through 5 are typically used to write to the six joint motors of the Quanser Haptic 5-DOF Wand, with channels 0 through 5 corresponding to the joints in the required order of top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big respectively. Likewise, encoder input channels 0 through 5 are typically used to read the encoder counts of the same six joints. The reference frame is shown below:

5-DOF Wand Reference Frame

Input Ports

forces

The forces and torques in Cartesian coordinates with which to drive the Haptic 5-DOF Wand end-effector. The input is a 5-vector, with the first three elements being the X, Y and Z forces in N and the last two elements being the yaw and roll torques in N-mm.

encs

The raw encoder counts measured from the six joints. The encoder counts must be input as a 6-vector in order of the joints, i.e., top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big. The 4X quadrature mode must be used when reading the encoders.

Output Ports

coords

The Cartesian coordinates of the end-effector of the Haptic 5-DOF Wand. The first three elements are the X, Y and Z coordinates in mm and the last two elements are the yaw and roll orientations in radians.

volts

The voltages required at the analog outputs to produce the desired motor currents for the six joints. The voltages are output as a 6-vector in order of the joints, i.e., top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big.

Data Type Support

This block supports inputs and outputs of type double.

Parameters and Dialog Box

Haptic 5-DOF Wand Cartesian Plant

The Haptic 5-DOF Wand Cartesian Plant 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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