Table of Contents
Haptic 5-DOF Wand Velocity Kinematics
Converts joint angular velocities to cartesian world coordinate velocities for the Quanser Haptic 5-DOF Wand.
Library
MATLAB Command Line
Click to copy the following command line to the clipboard. Then paste it in the MATLAB Command Window:
qc_open_library('quarc_library/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
Target Name |
Compatible* |
Model Referencing |
Comments |
---|---|---|---|
Yes |
Yes |
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Yes |
Yes |
||
Yes |
Yes |
||
Yes |
Yes |
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Yes |
Yes |
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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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