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Haptic 5-DOF Wand N-mm to Amps

Converts joint torques to motor currents for the Quanser Haptic 5-DOF Wand.

Library

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

Description

Haptic 5-DOF Wand N-mm to Amps

The Haptic 5-DOF Wand N-mm to Amps block converts the desired joint torques in N-mm to the corresponding motor currents in amperes required to produce those torques. The input must be a 6-vector in the following order of the joints: top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big. The output is a 6-vector in the same order. Use the Haptic 5-DOF Wand Motors block to determine the voltages required to produce the motor currents output by the Haptic 5-DOF Wand N-mm to Amps block.

Input Ports

The input to this block is the joint torques in N-mm with which to drive each of the six joints of the Haptic 5-DOF Wand. The input is a 6-vector in order of the joints: top-left-small, top-right-small, bottom-left-small, bottom-right-small, top-big, bottom-big.

Output Ports

The output is the current in amperes required to drive the motors to produce the desired joint torques, for each of the six joints. The output is a 6-vector in order of the joints: 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 N-mm to Amps

The Haptic 5-DOF Wand N-mm to Amps 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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