Quanser Haptic 3-DOF Planar Pantograph Blocks

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Table of Contents > QUARC > Blocks > Blocks - By Category > Block Categories > Devices > Quanser > Haptics > Pantographs

Quanser's 3-DOF Planar Pantograph is a ground-breaking haptic device. Originally designed and constructed by Prof. Tim Salcudean (at the University of British Columbia) to perform research in haptics, Quanser has advanced the redundant robot into a robust commercial tool. The haptic interface has three Degrees Of Freedom (DOF) allowing for two translations and one rotation. This is achieved by using a dual pantograph arrangement. Each pantograph is driven directly by two DC motors at the shoulders. The end-effector is connected to the end point of the two pantographs, which allows the end-effector to be rotated.

Interfacing

Haptic 3-DOF Planar Pantograph Joint Angles	Reads the joint angles of the Haptic 3-DOF Planar Pantograph.
Haptic 3-DOF Planar Pantograph Motors	Writes to the motors of the Haptic 3-DOF Planar Pantograph.
Haptic 3-DOF Planar Pantograph Enable	Enables the amplifiers for the Haptic 3-DOF Planar Pantograph.
Haptic 3-DOF Planar Pantograph Cartesian Plant	Allows the Haptic 3-DOF Planar Pantograph to be controlled in task space rather than joint space.
Haptic 3-DOF Planar Pantograph N-mm to Amps	Converts torque units of N-mm to current in amperes for the Haptic 3-DOF Planar Pantograph motors.
Haptic 3-DOF Planar Pantograph Emergency Stop	Reads the emergency stop button for the Haptic 3-DOF Planar Pantograph.
Haptic 3-DOF Planar Pantograph Amplifier Status	Reads the status of the Haptic 3-DOF Planar Pantograph amplifiers.
Haptic 3-DOF Planar Pantograph Motor Currents	Reads the current driving the Haptic 3-DOF Planar Pantograph motors.
Haptic 3-DOF Planar Pantograph Gimbal Switch	Reads the status of the Haptic 3-DOF Planar Pantograph gimbal switch.
Haptic 3-DOF Planar Pantograph Power Supplies	Monitors the Haptic 3-DOF Pantograph power supplies.

Kinematics

Haptic 3-DOF Planar Pantograph Forward Kinematics	Converts joint angles to Cartesian world coordinates for the Haptic 3-DOF Planar Pantograph.
Haptic 3-DOF Planar Pantograph Inverse Kinematics	Converts Cartesian world coordinates to joint angles for the Haptic 3-DOF Planar Pantograph.
Haptic 3-DOF Planar Pantograph Velocity Kinematics	Converts joint angular velocities to Cartesian world coordinate velocities for the Haptic 3-DOF Planar Pantograph.
Haptic 3-DOF Planar Pantograph Inverse Force Kinematics	Converts Cartesian and-effector forces to joint torques for the Haptic 3-DOF Planar Pantograph.

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