Quanser Haptic 5-DOF Wand Blocks
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Quanser's 5-DOF Haptic Wand 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 actuator robot into a robust commercial tool. The haptic interface has five Degrees Of Freedom (DOF) allowing for three translations and two rotations (roll and pitch). This is achieved by using a dual-pantograph arrangement. Each pantograph is driven directly by two DC motors at its shoulders and another DC motor, more powerful, at its waist. The control wand end-effector is connected to both end points of each pantograph through Universal joints (U-joints). |
Interfacing
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Reads the joint angles of the Haptic 5-DOF Wand. |
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Writes to the motors of the Haptic 5-DOF Wand. |
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Enables the amplifiers for the Haptic 5-DOF Wand. |
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Allows the Haptic 5-DOF Wand to be controlled in task space rather than joint space. |
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Converts torque units of N-mm to current in amperes for the Haptic 5-DOF Wand motors. |
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Reads the emergency stop button for the Haptic 5-DOF Wand. |
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Reads the status of the Haptic 5-DOF Wand amplifiers. |
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Reads the current driving the Haptic 5-DOF Wand motors. |
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Reads the status of the Haptic 5-DOF Wand gimbal switch. |
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Monitors the Haptic 5-DOF Wand power supplies. |
Kinematics
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Converts joint angles to Cartesian world coordinates for the Haptic 5-DOF Wand. | |
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Converts Cartesian world coordinates to joint angles for the Haptic 5-DOF Wand. | |
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Converts joint angular velocities to Cartesian world coordinate velocities for the Haptic 5-DOF Wand. | |
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Converts Cartesian and-effector forces to joint torques for the Haptic 5-DOF Wand. |
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