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📄 roblocks.mdl

📁 Robotics TOOLBOX The Toolbox provides many functions that are useful in robotics including such thi
💻 MDL
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Library {  Name			  "roblocks"  Version		  4.00  LibraryLinkDisplay	  "all"  CovSaveName		  "covdata"  CovNameIncrementing	  off  CovHtmlReporting	  on  BlockNameDataTip	  off  BlockParametersDataTip  off  BlockDescriptionStringDataTip	off  ToolBar		  off  StatusBar		  off  BrowserShowLibraryLinks off  BrowserLookUnderMasks	  off  Created		  "Tue Nov  6 20:25:41 2001"  Creator		  "pic"  UpdateHistory		  "UpdateHistoryNever"  ModifiedByFormat	  "%<Auto>"  LastModifiedBy	  "pic"  ModifiedDateFormat	  "%<Auto>"  LastModifiedDate	  "Mon Apr  8 11:39:30 2002"  ModelVersionFormat	  "1.%<AutoIncrement:23>"  ConfigurationManager	  "none"  SimParamPage		  "Solver"  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"  Profile		  off  SimulationMode	  "normal"  RTWRetainRTWFile	  off  RTWMakeCommand	  "make_rtw"  RTWGenerateCodeOnly	  off  TLCProfiler		  off  TLCDebug		  off  TLCCoverage		  off  ExtModeMexFile	  "ext_comm"  ExtModeBatchMode	  off  ExtModeTrigType	  "manual"  ExtModeTrigMode	  "normal"  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	  on  ExtModeLogAll		  on  BlockDefaults {    Orientation		    "right"    ForegroundColor	    "black"    BackgroundColor	    "white"    DropShadow		    off    NamePlacement	    "normal"    FontName		    "Helvetica"    FontSize		    10    FontWeight		    "normal"    FontAngle		    "normal"    ShowName		    on  }  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		    "roblocks"    Location		    [320, 113, 1117, 459]    Open		    on    ModelBrowserVisibility  off    ModelBrowserWidth	    200    ScreenColor		    "lightBlue"    PaperOrientation	    "portrait"    PaperPositionMode	    "auto"    PaperType		    "usletter"    PaperUnits		    "inches"    ZoomFactor		    "100"    AutoZoom		    off    ReportName		    "simulink-default.rpt"    Block {      BlockType		      SubSystem      Name		      "Robot"      Ports		      [1, 3]      Position		      [35, 79, 150, 151]      BackgroundColor	      "red"      DropShadow	      on      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      MaskDescription	      "Rigid-body dynamic model of robot."      MaskHelp		      "Simulates the forward (direct) rigid-body dynam""ics of the robot described by the given robot object.\n"      MaskPromptString	      "Robot object|Initial state"      MaskStyleString	      "edit,edit"      MaskTunableValueString  "on,on"      MaskCallbackString      "|"      MaskEnableString	      "on,on"      MaskVisibilityString    "on,on"      MaskToolTipString	      "on,on"      MaskVariables	      "robot=@1;q0=@2;"      MaskInitialization      "n = robot.n;\nname = robot.name;\n"      MaskDisplay	      "port_label('input', 1, 'tau')\nport_label('outp""ut', 1, 'q')\nport_label('output', 2, 'qd')\nport_label('output', 3, 'qdd')\n""text(0.1, 0.9,  robot.name, 'horizontalAlignment', 'left')\n\n"      MaskIconFrame	      on      MaskIconOpaque	      on      MaskIconRotate	      "none"      MaskIconUnits	      "normalized"      MaskValueString	      "robot|[0 0 0 0 0 0]"      MaskVariableAliases     ","      System {	Name			"Robot"	Location		[26, 97, 558, 325]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	AutoZoom		on	Block {	  BlockType		  Inport	  Name			  "tau"	  Position		  [20, 98, 50, 112]	  Port			  "1"	  Interpolate		  on	}	Block {	  BlockType		  Integrator	  Name			  "Integrator"	  Ports			  [1, 1]	  Position		  [265, 65, 295, 95]	  ShowName		  off	  ExternalReset		  "none"	  InitialConditionSource  "internal"	  InitialCondition	  "0"	  LimitOutput		  off	  UpperSaturationLimit	  "inf"	  LowerSaturationLimit	  "-inf"	  ShowSaturationPort	  off	  ShowStatePort		  off	  AbsoluteTolerance	  "auto"	  Port {	    PortNumber		    1	    Name		    "qd"	    TestPoint		    off	    LinearAnalysisOutput    off	    LinearAnalysisInput	    off	    RTWStorageClass	    "Auto"	  }	}	Block {	  BlockType		  Integrator	  Name			  "Integrator1"	  Ports			  [1, 1]	  Position		  [345, 65, 375, 95]	  ShowName		  off	  ExternalReset		  "none"	  InitialConditionSource  "internal"	  InitialCondition	  "0"	  LimitOutput		  off	  UpperSaturationLimit	  "inf"	  LowerSaturationLimit	  "-inf"	  ShowSaturationPort	  off	  ShowStatePort		  off	  AbsoluteTolerance	  "auto"	}	Block {	  BlockType		  Mux	  Name			  "Mux"	  Ports			  [3, 1]	  Position		  [105, 44, 115, 116]	  ShowName		  off	  Inputs		  "3"	  DisplayOption		  "bar"	}	Block {	  BlockType		  "S-Function"	  Name			  "S-Function"	  Ports			  [1, 1]	  Position		  [150, 65, 210, 95]	  FunctionName		  "slaccel"	  Parameters		  "robot"	  PortCounts		  "[]"	  SFunctionModules	  "''"	  Port {	    PortNumber		    1	    Name		    "qdd"	    TestPoint		    off	    LinearAnalysisOutput    off	    LinearAnalysisInput	    off	    RTWStorageClass	    "Auto"	  }	}	Block {	  BlockType		  Outport	  Name			  "q"	  Position		  [440, 73, 470, 87]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Block {	  BlockType		  Outport	  Name			  "qd"	  Position		  [440, 128, 470, 142]	  Port			  "2"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Block {	  BlockType		  Outport	  Name			  "qdd"	  Position		  [440, 173, 470, 187]	  Port			  "3"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  Name			  "qdd"	  Labels		  [0, 0]	  SrcBlock		  "S-Function"	  SrcPort		  1	  Points		  [35, 0]	  Branch {	    Points		    [0, 100]	    DstBlock		    "qdd"	    DstPort		    1	  }	  Branch {	    DstBlock		    "Integrator"	    DstPort		    1	  }	}	Line {	  SrcBlock		  "Mux"	  SrcPort		  1	  DstBlock		  "S-Function"	  DstPort		  1	}	Line {	  Name			  "qd"	  Labels		  [0, 0]	  SrcBlock		  "Integrator"	  SrcPort		  1	  Points		  [30, 0]	  Branch {	    Points		    [0, 55]	    DstBlock		    "qd"	    DstPort		    1	  }	  Branch {	    DstBlock		    "Integrator1"	    DstPort		    1	  }	  Branch {	    Points		    [0, -50; -285, 0; 0, 50]	    DstBlock		    "Mux"	    DstPort		    2	  }	}	Line {	  SrcBlock		  "tau"	  SrcPort		  1	  DstBlock		  "Mux"	  DstPort		  3	}	Line {	  SrcBlock		  "Integrator1"	  SrcPort		  1	  Points		  [25, 0]	  Branch {	    DstBlock		    "q"	    DstPort		    1	  }	  Branch {	    Points		    [0, -60; -325, 0; 0, 35]	    DstBlock		    "Mux"	    DstPort		    1	  }	}      }    }    Block {      BlockType		      SubSystem      Name		      "T2eul"      Ports		      [1, 3]      Position		      [705, 227, 755, 283]      BackgroundColor	      "red"      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      MaskDescription	      "Convert transform to Euler angles."      MaskIconFrame	      on      MaskIconOpaque	      on      MaskIconRotate	      "none"      MaskIconUnits	      "normalized"      System {	Name			"T2eul"	Location		[167, 513, 531, 662]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	AutoZoom		on	Block {	  BlockType		  Inport	  Name			  "T"	  Position		  [30, 63, 60, 77]	  Port			  "1"	  Interpolate		  on	}	Block {	  BlockType		  Demux	  Name			  "Demux"	  Ports			  [1, 3]	  Position		  [225, 13, 230, 127]	  BackgroundColor	  "black"	  ShowName		  off	  Outputs		  "3"	  BusSelectionMode	  off	}	Block {	  BlockType		  MATLABFcn	  Name			  "MATLAB Fcn"	  Position		  [105, 55, 165, 85]	  MATLABFcn		  "tr2eul(u)"	  OutputDimensions	  "3"	  OutputSignalType	  "auto"	  Output1D		  on	}	Block {	  BlockType		  Outport	  Name			  "a"	  Position		  [265, 23, 295, 37]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Block {	  BlockType		  Outport	  Name			  "b"	  Position		  [255, 63, 285, 77]	  Port			  "2"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Block {	  BlockType		  Outport	  Name			  "c"	  Position		  [255, 103, 285, 117]	  Port			  "3"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "Demux"	  SrcPort		  3	  DstBlock		  "c"	  DstPort		  1	}	Line {	  SrcBlock		  "Demux"	  SrcPort		  2	  DstBlock		  "b"	  DstPort		  1	}	Line {	  SrcBlock		  "Demux"	  SrcPort		  1	  DstBlock		  "a"	  DstPort		  1	}	Line {	  SrcBlock		  "MATLAB Fcn"	  SrcPort		  1	  DstBlock		  "Demux"	  DstPort		  1	}	Line {	  SrcBlock		  "T"	  SrcPort		  1	  DstBlock		  "MATLAB Fcn"	  DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "T2rpy"      Ports		      [1, 3]      Position		      [705, 147, 755, 203]      BackgroundColor	      "red"      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      MaskDescription	      "Convert transform to roll/pitch/yaw angles."      MaskIconFrame	      on      MaskIconOpaque	      on      MaskIconRotate	      "none"      MaskIconUnits	      "normalized"      System {	Name			"T2rpy"	Location		[167, 513, 531, 662]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	AutoZoom		on	Block {	  BlockType		  Inport	  Name			  "T"	  Position		  [30, 63, 60, 77]	  Port			  "1"	  Interpolate		  on	}	Block {	  BlockType		  Demux	  Name			  "Demux"	  Ports			  [1, 3]	  Position		  [225, 13, 230, 127]	  BackgroundColor	  "black"	  ShowName		  off	  Outputs		  "3"	  BusSelectionMode	  off	}	Block {	  BlockType		  MATLABFcn	  Name			  "MATLAB Fcn"	  Position		  [105, 55, 165, 85]	  MATLABFcn		  "tr2rpy(u)"	  OutputDimensions	  "3"	  OutputSignalType	  "auto"	  Output1D		  on	}	Block {	  BlockType		  Outport	  Name			  "roll"	  Position		  [265, 23, 295, 37]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Block {	  BlockType		  Outport	  Name			  "pitch"	  Position		  [255, 63, 285, 77]	  Port			  "2"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Block {	  BlockType		  Outport	  Name			  "yaw"	  Position		  [255, 103, 285, 117]	  Port			  "3"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Line {	  SrcBlock		  "Demux"	  SrcPort		  3	  DstBlock		  "yaw"	  DstPort		  1	}	Line {	  SrcBlock		  "Demux"	  SrcPort		  2	  DstBlock		  "pitch"	  DstPort		  1	}	Line {	  SrcBlock		  "Demux"	  SrcPort		  1	  DstBlock		  "roll"	  DstPort		  1	}	Line {	  SrcBlock		  "MATLAB Fcn"	  SrcPort		  1	  DstBlock		  "Demux"	  DstPort		  1	}	Line {	  SrcBlock		  "T"	  SrcPort		  1	  DstBlock		  "MATLAB Fcn"	  DstPort		  1	}      }    }    Block {      BlockType		      SubSystem      Name		      "T2xyz"      Ports		      [1, 3]      Position		      [700, 77, 750, 133]      BackgroundColor	      "red"      ShowPortLabels	      on      TreatAsAtomicUnit	      off      RTWSystemCode	      "Auto"      RTWFcnNameOpts	      "Auto"      RTWFileNameOpts	      "Auto"      MaskDescription	      "Convert transform to xyz scalars"      MaskIconFrame	      on      MaskIconOpaque	      on      MaskIconRotate	      "none"      MaskIconUnits	      "normalized"      System {	Name			"T2xyz"	Location		[167, 513, 531, 662]	Open			off	ModelBrowserVisibility	off	ModelBrowserWidth	200	ScreenColor		"white"	PaperOrientation	"landscape"	PaperPositionMode	"auto"	PaperType		"usletter"	PaperUnits		"inches"	ZoomFactor		"100"	AutoZoom		on	Block {	  BlockType		  Inport	  Name			  "T"	  Position		  [30, 63, 60, 77]	  Port			  "1"	  Interpolate		  on	}	Block {	  BlockType		  Demux	  Name			  "Demux"	  Ports			  [1, 3]	  Position		  [225, 13, 230, 127]	  BackgroundColor	  "black"	  ShowName		  off	  Outputs		  "3"	  BusSelectionMode	  off	}	Block {	  BlockType		  MATLABFcn	  Name			  "MATLAB Fcn"	  Position		  [105, 55, 165, 85]	  MATLABFcn		  "transl(u)"	  OutputDimensions	  "3"	  OutputSignalType	  "auto"	  Output1D		  on	}	Block {	  BlockType		  Outport	  Name			  "x"	  Position		  [265, 23, 295, 37]	  Port			  "1"	  OutputWhenDisabled	  "held"	  InitialOutput		  "[]"	}	Block {	  BlockType		  Outport

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