Haptic 5-DOF Wand Forward Kinematics
Converts joint angles to cartesian world coordinates for the Quanser Haptic 5-DOF Wand.
Library
QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 5-DOF Wand/Kinematics
Description
The Haptic 5-DOF Wand Forward Kinematics block converts joint angles to cartesian world coordinates for the Quanser Haptic 5-DOF Wand. The reference frame is shown below:
Input Ports
angs
The joint angles in radians for the six joints. The joint angles should be supplied 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.
Output Ports
world
The position and orientation of the robot end-effector as a 5-vector: X, Y and Z coordinates in millimeters, yaw and roll in radians.
Data Type Support
This block supports inputs and outputs of type double.
Parameters and Dialog Box
The Haptic 5-DOF Wand Forward Kinematics block has no parameters.
Targets
|
Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
|
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 |
||
|
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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