roblocks.mdl

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

	  Name			  "y"
	  Position		  [255, 63, 285, 77]
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "z"
	  Position		  [255, 103, 285, 117]
	  Port			  "3"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "T"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "Demux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  1
	  DstBlock		  "x"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  2
	  DstBlock		  "y"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Demux"
	  SrcPort		  3
	  DstBlock		  "z"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "eul2T"
      Ports		      [3, 1]
      Position		      [630, 228, 680, 282]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Convert Euler angles to transform."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"eul2T"
	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			  "a"
	  Position		  [25, 33, 55, 47]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "b"
	  Position		  [25, 68, 55, 82]
	  Port			  "2"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "c"
	  Position		  [25, 103, 55, 117]
	  Port			  "3"
	  Interpolate		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [120, 60, 180, 90]
	  MATLABFcn		  "eul2tr(u)"
	  OutputDimensions	  "[4 4]"
	  OutputSignalType	  "auto"
	  Output1D		  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [85, 20, 90, 130]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "T"
	  Position		  [225, 68, 255, 82]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "c"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "T"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "a"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "b"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "fkine"
      Ports		      [1, 1]
      Position		      [425, 262, 475, 318]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Robot forward kinematics."
      MaskHelp		      "Compute homogeneous transform for robot end-eff"
"ector given joint angles."
      MaskPromptString	      "Robot object"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskDisplay	      "port_label('input', 1, 'q')\nport_label('output"
"', 1, 'T')\ntext(0.9, 0.9, robot.name,  'horizontalAlignment', 'right')\n"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
      System {
	Name			"fkine"
	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			  "q"
	  Position		  [55, 68, 85, 82]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [120, 60, 180, 90]
	  MATLABFcn		  "fkine(robot,u)"
	  OutputDimensions	  "[4 4]"
	  OutputSignalType	  "auto"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "T"
	  Position		  [225, 68, 255, 82]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "T"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "ijacob"
      Ports		      [1, 1]
      Position		      [525, 170, 590, 240]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Robot inverse Jacobian for world coordinates.\n"
"\nOnly valid for square jacobians (ie/ 6DOF robots)"
      MaskDisplay	      "text(0.4, 0.7, 'J', 'verticalAlignment', 'top',"
" 'horizontalAlignment', 'left')\ntext(0.65, 0.65, '-1', 'verticalAlignment', "
"'bottom', 'horizontalAlignment', 'right')\nport_label('input', 1, 'J');\nport"
"_label('output', 1, 'Ji')\n"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"ijacob"
	Location		[236, 485, 600, 634]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "J"
	  Position		  [20, 33, 50, 47]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "inverse\njacobian"
	  Position		  [110, 25, 170, 55]
	  MATLABFcn		  "inv(u)"
	  OutputDimensions	  "-1"
	  OutputSignalType	  "auto"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "Ji"
	  Position		  [220, 33, 250, 47]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "inverse\njacobian"
	  SrcPort		  1
	  DstBlock		  "Ji"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "J"
	  SrcPort		  1
	  DstBlock		  "inverse\njacobian"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "jacob0\n"
      Ports		      [1, 1]
      Position		      [425, 165, 490, 235]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Robot Jacobian for end-effector coordinates"
      MaskPromptString	      "Robot object"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskInitialization      "n=robot.n;\n"
      MaskDisplay	      "text(0.4, 0.7, 'J', 'verticalAlignment', 'top',"
" 'horizontalAlignment', 'left')\ntext(0.4, 0.7, '0', 'verticalAlignment', 'bo"
"ttom', 'horizontalAlignment', 'right')\ntext(0.5, 0.2, robot.name,  'horizont"
"alAlignment', 'center')\nport_label('input', 1, 'q')\nport_label('output', 1,"
" 'J')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
      System {
	Name			"jacob0\n"
	Location		[580, 550, 944, 699]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "q"
	  Position		  [20, 33, 50, 47]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [100, 25, 160, 55]
	  MATLABFcn		  "jacob0(robot,u)"
	  OutputDimensions	  "[6 n]"
	  OutputSignalType	  "auto"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "J"
	  Position		  [220, 33, 250, 47]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "J"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "jacobn"
      Ports		      [1, 1]
      Position		      [425, 78, 490, 142]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Robot Jacobian for end-effector coordinates"
      MaskPromptString	      "Robot object"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskInitialization      "n=robot.n;"
      MaskDisplay	      "text(0.5, 0.4, 'J', 'verticalAlignment', 'top',"
" 'horizontalAlignment', 'left')\ntext(0.5, 0.4, 'n', 'verticalAlignment', 'bo"
"ttom', 'horizontalAlignment', 'right')\ntext(0.9, 0.9, robot.name,  'horizont"
"alAlignment', 'right')\nport_label('input', 1, 'q')\nport_label('output', 1, "
"'J')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
      System {
	Name			"jacobn"
	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			  "q"
	  Position		  [20, 33, 50, 47]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [100, 25, 160, 55]
	  MATLABFcn		  "jacobn(robot,u)"
	  OutputDimensions	  "[6 n]"
	  OutputSignalType	  "auto"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "J"
	  Position		  [220, 33, 250, 47]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "J"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "jtraj"
      Ports		      [0, 3]
      Position		      [315, 81, 365, 149]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Joint interpolated trajectory."
      MaskHelp		      "Generate quintic polynomial to move from initia"
"l to final joint angles as specified.  Initial and final velocity are assumed"
" to be zero.\n\nOutputs joint angles as well as joint angle rates."
      MaskPromptString	      "q0|qf|tmax"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVariables	      "q0=@1;qf=@2;tmax=@3;"
      MaskInitialization      "n = length(q0);\nif length(q0) ~= length(qf) ,"
"\n error('q0 and qf must be same length')\nend\nt=[0:100]'/100*tmax;\n[q,qd,q"
"dd] = jtraj(q0, qf, t);"
      MaskDisplay	      "port_label('output', 1, 'q')\nport_label('outpu"
"t', 2, 'qd')\nport_label('output', 3, 'qdd')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "[0 0 0 0 0 0]|[pi/4 pi/2 -pi/2 0 0 0]|10"
      MaskVariableAliases     ",,"
      System {
	Name			"jtraj"
	Location		[521, 478, 885, 669]
	Open			off
	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
	ZoomFactor		"100"
	AutoZoom		on
	Block {
	  BlockType		  Clock
	  Name			  "Clock"
	  Position		  [20, 30, 40, 50]
	  DisplayTime		  off
	  Decimation		  "10"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [105, 25, 165, 55]
	  MATLABFcn		  "interp1(t,q,u)"
	  OutputDimensions	  "n"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn1"
	  Position		  [110, 75, 170, 105]
	  MATLABFcn		  "interp1(t,qd,u)"
	  OutputDimensions	  "n"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn2"
	  Position		  [110, 125, 170, 155]
	  MATLABFcn		  "interp1(t,qdd,u)"
	  OutputDimensions	  "n"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  Position		  [220, 33, 250, 47]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qd"
	  Position		  [220, 83, 250, 97]
	  Port			  "2"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qdd"
	  Position		  [220, 133, 250, 147]
	  Port			  "3"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "q"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MATLAB Fcn1"
	  SrcPort		  1
	  DstBlock		  "qd"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Clock"
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    DstBlock		    "MATLAB Fcn"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    Branch {
	      DstBlock		      "MATLAB Fcn1"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 50]
	      DstBlock		      "MATLAB Fcn2"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "MATLAB Fcn2"
	  SrcPort		  1