Quanser 6 DOF Hexapod Laboratory Manual page 18

setup_hexapod.m
This is done by keeping a minimum distance between them. The separation distance can be set in
in the min_separation variable. Note that this is defined as the distance between the joint center to joint center - not
the side to side distance. Furthermore, each joint is limited to maximum and minimum position using a Simulink Sat-
uration block. Additional checks are included to detect and avoid potential collisions caused by the desired position
references between the links and the mounting brackets at each joint location. The desired position references will
be passed through the Joint Collision Avoidance subsystem if they do not result in a collision condition. Otherwise,
the previous desired joint commands will be held until a set of collision-free desired position references are received
(and be passed through).
2.8.2 Hardware Interface
The QUARC blocks used to interface to the Hexapod amplifier, linear actuators, and encoders is done, at a higher-
level, in the Hexapod IO API subsystem shown in Figure 2.14.
HEXAPOD Laboratory Guide 18