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
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:
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
The Haptic 5-DOF Wand Velocity Kinematics block has no parameters.
Targets
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Target Name |
Compatible* |
Model Referencing |
Comments |
|---|---|---|---|
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Yes |
Yes |
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|
Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
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Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
||
|
Yes |
Yes |
Last fully supported in QUARC 2018. |
|
|
Rapid Simulation (RSIM) Target |
Yes |
Yes |
|
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S-Function Target |
No |
N/A |
Old technology. Use model referencing instead. |
|
Normal simulation |
Yes |
Yes |
See Also
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