roblocks.mdl

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

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      Position		      [190, 82, 270, 138]
      BackgroundColor	      "red"
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      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Graphical robot display."
      MaskHelp		      "This block graphically displays the named robot"
      MaskPromptString	      "Name of robot"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskInitialization      "plot(robot,zeros(1,robot.n))"
      MaskDisplay	      "text(0.5, 0.5,  robot.name, 'horizontalAlignmen"
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      MaskIconFrame	      on
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      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
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	  BlockType		  Inport
	  Name			  "q"
	  Position		  [25, 33, 55, 47]
	  Port			  "1"
	  Interpolate		  on
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	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  Ports			  [1]
	  Position		  [120, 25, 180, 55]
	  FunctionName		  "slplotbot"
	  Parameters		  "robot"
	  PortCounts		  "[]"
	  SFunctionModules	  "''"
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	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
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    }
    Block {
      BlockType		      SubSystem
      Name		      "rne"
      Ports		      [3, 1]
      Position		      [35, 197, 130, 263]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Rigid-body inverse dynamics."
      MaskHelp		      "Given a robot dynamic model and joint angle, ra"
"te and acceleration determine the required joint torque.  Useful for computed"
" and inverse torque control schemes."
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      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVariables	      "robot=@1;grav=@2;"
      MaskInitialization      "n=robot.n;"
      MaskDisplay	      "port_label('output', 1, 'tau')\nport_label('inp"
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"xt(0.9, 0.9,  robot.name, 'horizontalAlignment', 'right')\n"
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      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot|[0 0 9.81]"
      MaskVariableAliases     ","
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	Location		[240, 487, 732, 638]
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	ModelBrowserVisibility	off
	ModelBrowserWidth	200
	ScreenColor		"white"
	PaperOrientation	"landscape"
	PaperPositionMode	"auto"
	PaperType		"usletter"
	PaperUnits		"inches"
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	AutoZoom		on
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	  Name			  "q"
	  Position		  [20, 33, 50, 47]
	  Port			  "1"
	  Interpolate		  on
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	Block {
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	  Name			  "qd"
	  Position		  [20, 73, 50, 87]
	  Port			  "2"
	  Interpolate		  on
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	Block {
	  BlockType		  Inport
	  Name			  "qdd"
	  Position		  [15, 113, 45, 127]
	  Port			  "3"
	  Interpolate		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [115, 66, 290, 94]
	  MATLABFcn		  "rne(robot, u(1:n)', u(n+1:2*n)', u(2*n+1:3*"
"n)')"
	  OutputDimensions	  "n"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [85, 21, 90, 139]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "tau"
	  Position		  [370, 73, 400, 87]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
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	Line {
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	  SrcPort		  1
	  DstBlock		  "Mux"
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	Line {
	  SrcBlock		  "qd"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
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	Line {
	  SrcBlock		  "qdd"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
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	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "tau"
	  DstPort		  1
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    }
    Block {
      BlockType		      SubSystem
      Name		      "rpy2T"
      Ports		      [3, 1]
      Position		      [630, 148, 680, 202]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Convert roll/pitch/yaw angles to transform."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"rpy2T"
	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			  "roll"
	  Position		  [25, 33, 55, 47]
	  Port			  "1"
	  Interpolate		  on
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	Block {
	  BlockType		  Inport
	  Name			  "pitch"
	  Position		  [25, 68, 55, 82]
	  Port			  "2"
	  Interpolate		  on
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	Block {
	  BlockType		  Inport
	  Name			  "yaw"
	  Position		  [25, 103, 55, 117]
	  Port			  "3"
	  Interpolate		  on
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [120, 60, 180, 90]
	  MATLABFcn		  "rpy2tr(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		  "[]"
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	  SrcBlock		  "yaw"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
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	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
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	Line {
	  SrcBlock		  "roll"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
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	Line {
	  SrcBlock		  "pitch"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
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    Block {
      BlockType		      SubSystem
      Name		      "tr2diff"
      Ports		      [2, 1]
      Position		      [530, 262, 580, 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, 'T1')\nport_label('input"
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      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
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	PaperPositionMode	"auto"
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	AutoZoom		on
	Block {
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	  Name			  "T1"
	  Position		  [45, 38, 75, 52]
	  Port			  "1"
	  Interpolate		  on
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	Block {
	  BlockType		  Inport
	  Name			  "T2"
	  Position		  [45, 93, 75, 107]
	  Port			  "2"
	  Interpolate		  on
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	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [215, 40, 275, 70]
	  MATLABFcn		  "tr2diff(reshape(u(1:16),4,4), reshape(u(17:"
"32),4,4))"
	  OutputDimensions	  "6"
	  OutputSignalType	  "auto"
	  Output1D		  on
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [185, 36, 190, 74]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Reshape"
	  Ports			  [1, 1]
	  Position		  [115, 33, 145, 57]
	  SourceBlock		  "simulink3/Signals\n& Systems/Reshape"
	  SourceType		  "Reshape"
	  OutputDimensionality	  "1-D array"
	  OutputDimensions	  "[1,1]"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Reshape1"
	  Ports			  [1, 1]
	  Position		  [125, 88, 155, 112]
	  SourceBlock		  "simulink3/Signals\n& Systems/Reshape"
	  SourceType		  "Reshape"
	  OutputDimensionality	  "1-D array"
	  OutputDimensions	  "[1,1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "dx"
	  Position		  [300, 48, 330, 62]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
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	  SrcPort		  1
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	  DstBlock		  "Reshape"
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	  DstBlock		  "Reshape1"
	  DstPort		  1
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	  DstBlock		  "MATLAB Fcn"
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	  SrcPort		  1
	  DstBlock		  "Mux"
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	  SrcBlock		  "Reshape1"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "Mux"
	  DstPort		  2
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      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "xyz2T"
      Ports		      [3, 1]
      Position		      [625, 78, 675, 132]
      BackgroundColor	      "red"
      ShowPortLabels	      on
      TreatAsAtomicUnit	      off
      RTWSystemCode	      "Auto"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      MaskDescription	      "Convert xyz scalars to transform."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"xyz2T"
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	ModelBrowserWidth	200
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	PaperType		"usletter"
	PaperUnits		"inches"
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	AutoZoom		on
	Block {
	  BlockType		  Inport
	  Name			  "x"
	  Position		  [25, 33, 55, 47]
	  Port			  "1"
	  Interpolate		  on
	}
	Block {
	  BlockType		  Inport
	  Name			  "y"
	  Position		  [25, 68, 55, 82]
	  Port			  "2"
	  Interpolate		  on
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	Block {
	  BlockType		  Inport
	  Name			  "z"
	  Position		  [25, 103, 55, 117]
	  Port			  "3"
	  Interpolate		  on
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	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Position		  [120, 60, 180, 90]
	  MATLABFcn		  "transl(u)"
	  OutputDimensions	  "[4 4]"
	  OutputSignalType	  "auto"
	  Output1D		  off
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	Block {
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	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [85, 20, 90, 130]
	  ShowName		  off
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	  DisplayOption		  "bar"
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	Block {
	  BlockType		  Outport
	  Name			  "T"
	  Position		  [225, 68, 255, 82]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "[]"
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	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
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	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
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	  SrcBlock		  "Mux"
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	  SrcBlock		  "z"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
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    Annotation {
      Position		      [268, 24]
      BackgroundColor	      "lightBlue"
      Text		      "Robotics Toolbox for Matlab (release 7)"
      FontName		      "new century schoolbook"
      FontSize		      24
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [245, 216]
      Text		      "TODO\n"
    }
    Annotation {
      Position		      [90, 330]
      Text		      "Copyright (c) 2002 Peter Corke"
    }
    Annotation {
      Position		      [67, 57]
      BackgroundColor	      "lightBlue"
      Text		      "Dynamics"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [232, 57]
      BackgroundColor	      "lightBlue"
      Text		      "Graphics"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [497, 57]
      BackgroundColor	      "lightBlue"
      Text		      "Kinematics"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [697, 57]
      BackgroundColor	      "lightBlue"
      Text		      "Transform conversion"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [342, 57]
      BackgroundColor	      "lightBlue"
      Text		      "Trajectory"
      FontSize		      12
      FontWeight	      "bold"
    }
  }
}