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Haptic 5-DOF Wand Inverse Force Kinematics

Converts cartesian end-effector forces to joint torques for the Quanser Haptic 5-DOF Wand.

Library

QUARC Targets/Devices/Quanser/Haptics/Pantographs/Haptic 5-DOF Wand/Kinematics

Description

Haptic 5-DOF Wand Inverse Force Kinematics

The Haptic 5-DOF Wand Inverse Force Kinematics block converts cartesian world coordinate forces to joint torques for the Quanser Haptic 5-DOF Wand. The reference frame is shown below:

5-DOF Wand Reference Frame

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.

forces

The translational forces and torques of the robot end-effector as a 5-vector: X, Y and Z forces in N, yaw and roll torques in N-mm.

Output Ports

torques

The joint torques in N-mm for the six joints. The joint torques 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 Inverse Force Kinematics

The Haptic 5-DOF Wand Inverse Force Kinematics 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 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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