demo5.mdl

Robotics TOOLBOX The Toolbox provides many functions that are useful in robotics including such thi

Model {
  Name			  "demo5"
  Version		  4.00
  SampleTimeColors	  off
  LibraryLinkDisplay	  "all"
  WideLines		  on
  ShowLineDimensions	  on
  ShowPortDataTypes	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
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  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Sat Jan 26 02:15:13 2002"
  Creator		  "pic"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "pic"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Apr  8 11:39:33 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:6>"
  ConfigurationManager	  "none"
  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "10.0"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  Refine		  "1"
  MaxStep		  "auto"
  MinStep		  "auto"
  MaxNumMinSteps	  "-1"
  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  on
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Array"
  LimitDataPoints	  off
  MaxDataPoints		  "1000"
  Decimation		  "1"
  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  SingleTaskRateTransMsg  "none"
  MultiTaskRateTransMsg	  "error"
  IntegerOverflowMsg	  "warning"
  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg	  "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
  BlockPriorityViolationMsg "warning"
  ArrayBoundsChecking	  "none"
  ConsistencyChecking	  "none"
  ZeroCross		  on
  Profile		  off
  SimulationMode	  "normal"
  RTWSystemTargetFile	  "grt.tlc"
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  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
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  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  ExtModeLogAll		  on
  OptimizeBlockIOStorage  on
  BufferReuse		  on
  ParameterPooling	  on
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  BlockDefaults {
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    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
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  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "demo5"
    Location		    [505, 513, 1344, 896]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "portrait"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [20, 154, 70, 176]
      ForegroundColor	      "magenta"
      DisplayTime	      on
      Decimation	      "10"
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    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [100, 280, 130, 310]
      ForegroundColor	      "magenta"
      ShowName		      off
      Value		      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn"
      Position		      [95, 150, 155, 180]
      ForegroundColor	      "magenta"
      ShowName		      off
      Expr		      "0.05*cos(u)+0.5"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn1"
      Position		      [95, 200, 155, 230]
      ForegroundColor	      "magenta"
      ShowName		      off
      Expr		      "0.05*sin(u)"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [460, 169, 500, 201]
      ShowName		      off
      Gain		      "-0.6"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1]
      Position		      [400, 155, 435, 215]
      ShowName		      off
      Inputs		      "2"
      Multiplication	      "Matrix(*)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Integrator
      Name		      "Rate\ncontrolled\nrobot\naxes"
      Ports		      [1, 1]
      Position		      [530, 162, 565, 208]
      DropShadow	      on
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "[0.2763    0.9125    2.9359         0    2.4348"
"   -0.2763]"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      Port {
	PortNumber		1
	Name			"q"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Reference
      Name		      "T2xyz"
      Ports		      [1, 3]
      Position		      [705, 217, 755, 273]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/T2xyz"
      SourceType	      ""
    }
    Block {
      BlockType		      Reference
      Name		      "XY Graph"
      Ports		      [2]
      Position		      [790, 216, 820, 249]
      SourceBlock	      "simulink3/Sinks/XY Graph"
      SourceType	      "XY scope."
      xmin		      "0.4"
      xmax		      "0.6"
      ymin		      "-0.1"
      ymax		      "0.1"
      st		      "-1"
    }
    Block {
      BlockType		      Reference
      Name		      "fkine"
      Ports		      [1, 1]
      Position		      [615, 157, 665, 213]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/fkine"
      SourceType	      ""
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "ijacob"
      Ports		      [1, 1]
      Position		      [300, 55, 365, 125]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/ijacob"
      SourceType	      ""
    }
    Block {
      BlockType		      Reference
      Name		      "jacob0"
      Ports		      [1, 1]
      Position		      [210, 55, 275, 125]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/jacob0"
      SourceType	      "Unknown"
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [710, 97, 790, 153]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/plot"
      SourceType	      ""
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "tr2diff"
      Ports		      [2, 1]
      Position		      [275, 172, 325, 228]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/tr2diff"
      SourceType	      ""
      robot		      "robot"
    }
    Block {
      BlockType		      Reference
      Name		      "xyz2T"
      Ports		      [3, 1]
      Position		      [195, 158, 245, 212]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/xyz2T"
      SourceType	      ""
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, 0]
	DstBlock		"Fcn"
	DstPort			1
      }
      Branch {
	Points			[0, 50]
	DstBlock		"Fcn1"
	DstPort			1
      }
    }
    Line {
      Name		      "q"
      Labels		      [0, 0]
      SrcBlock		      "Rate\ncontrolled\nrobot\naxes"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"fkine"
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	DstBlock		"plot"
	DstPort			1
      }
      Branch {
	Labels			[2, 0]
	Points			[0, -155; -390, 0]
	DstBlock		"jacob0"
	DstPort			1
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    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [45, 0]
      DstBlock		      "xyz2T"
      DstPort		      3
    }
    Line {
      SrcBlock		      "T2xyz"
      SrcPort		      1
      DstBlock		      "XY Graph"
      DstPort		      1
    }
    Line {
      SrcBlock		      "T2xyz"
      SrcPort		      2
      Points		      [15, 0]
      DstBlock		      "XY Graph"
      DstPort		      2
    }
    Line {
      SrcBlock		      "tr2diff"
      SrcPort		      1
      DstBlock		      "Product"
      DstPort		      2
    }
    Line {
      SrcBlock		      "xyz2T"
      SrcPort		      1
      DstBlock		      "tr2diff"
      DstPort		      1
    }
    Line {
      SrcBlock		      "fkine"
      SrcPort		      1
      Points		      [15, 0; 0, 60; -5, 0]
      Branch {
	DstBlock		"T2xyz"
	DstPort			1
      }
      Branch {
	Points			[-425, 0; 0, -30]
	DstBlock		"tr2diff"
	DstPort			2
      }
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    Line {
      SrcBlock		      "Fcn1"
      SrcPort		      1
      Points		      [0, -30]
      DstBlock		      "xyz2T"
      DstPort		      2
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    Line {
      SrcBlock		      "Fcn"
      SrcPort		      1
      DstBlock		      "xyz2T"
      DstPort		      1
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    Line {
      SrcBlock		      "jacob0"
      SrcPort		      1
      DstBlock		      "ijacob"
      DstPort		      1
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    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
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    Line {
      SrcBlock		      "ijacob"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Product"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Rate\ncontrolled\nrobot\naxes"
      DstPort		      1
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    Annotation {
      Position		      [91, 133]
      ForegroundColor	      "magenta"
      Text		      "Cartesian circle"
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    Annotation {
      Position		      [99, 19]
      Text		      "Cartesian control"
      FontSize		      18
      FontWeight	      "bold"
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}