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
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:
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
The Haptic 5-DOF Wand Inverse Force 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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