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Haptic 5-DOF Wand Velocity Kinematics

Converts joint angular velocities to cartesian world coordinate velocities for the Quanser Haptic 5-DOF Wand.

Library

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

Description

Haptic 5-DOF Wand Velocity Kinematics

The Haptic 5-DOF Wand Velocity Kinematics block converts joint angular velocities to cartesian world coordinate velocities 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.

vels

The joint angular velocities in radians per second for the six joints. The joint angular velocities 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 vels

The translational velocities and angular velocities of the robot end-effector as a 5-vector: X, Y and Z velocities in millimeters per second, and angular yaw and roll velocities in radians per second.

Data Type Support

This block supports inputs and outputs of type double.

Parameters and Dialog Box

Haptic 5-DOF Wand Velocity Kinematics

The Haptic 5-DOF Wand Velocity 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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