demo4.mdl

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

Model {
  Name			  "demo4"
  Version		  4.00
  SampleTimeColors	  off
  LibraryLinkDisplay	  "all"
  WideLines		  on
  ShowLineDimensions	  on
  ShowPortDataTypes	  off
  RecordCoverage	  off
  CovPath		  "/"
  CovSaveName		  "covdata"
  CovNameIncrementing	  off
  CovHtmlReporting	  on
  BlockNameDataTip	  off
  BlockParametersDataTip  on
  BlockDescriptionStringDataTip	off
  ToolBar		  on
  StatusBar		  on
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  Created		  "Tue Jan  8 12:29:23 2002"
  Creator		  "pic"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  LastModifiedBy	  "pic"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Mon Apr  8 11:38:26 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:21>"
  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"
  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "grt_default_tmf"
  RTWMakeCommand	  "make_rtw"
  RTWGenerateCodeOnly	  off
  TLCProfiler		  off
  TLCDebug		  off
  TLCCoverage		  off
  AccelSystemTargetFile	  "accel.tlc"
  AccelTemplateMakefile	  "accel_default_tmf"
  AccelMakeCommand	  "make_rtw"
  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
  BlockReductionOpt	  off
  BooleanDataType	  off
  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		    "demo4"
    Location		    [259, 134, 1001, 476]
    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		      Gain
      Name		      "Kd"
      Position		      [195, 145, 225, 175]
      ForegroundColor	      "gray"
      Gain		      "1"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Gain
      Name		      "Kp"
      Position		      [195, 95, 225, 125]
      ForegroundColor	      "gray"
      Gain		      "100"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Reference
      Name		      "Model Info"
      Ports		      []
      Position		      [20, 284, 182, 329]
      ShowName		      off
      FontName		      "Arial"
      SourceBlock	      "simulink3/Signals\n& Systems/Model Info"
      SourceType	      "CMBlock"
      InitialBlockCM	      "none"
      BlockCM		      "none"
      Frame		      "on"
      DisplayStringWithTags   "Torque feedforward control\n%<Creator>\n%<LastM"
"odificationDate>"
      MaskDisplayString	      "Torque feedforward control\\npic\\n11-Feb-2002 "
"14:19:26"
      HorizontalTextAlignment "Left"
      LeftAlignmentValue      "0.02"
      SourceBlockDiagram      "demo4"
      TagMaxNumber	      "20"
    }
    Block {
      BlockType		      Reference
      Name		      "Robot"
      Ports		      [1, 3]
      Position		      [425, 74, 540, 146]
      ForegroundColor	      "orange"
      BackgroundColor	      "red"
      DropShadow	      on
      SourceBlock	      "roblocks/Robot"
      SourceType	      ""
      robot		      "nofriction(p560, 'coulomb')"
      q0		      "[0 0 0 0 0 0]"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [120, 100, 140, 120]
      ForegroundColor	      "gray"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [145, 150, 165, 170]
      ForegroundColor	      "gray"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [260, 100, 280, 120]
      ForegroundColor	      "gray"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      SaturateOnIntegerOverflow	on
      Port {
	PortNumber		1
	Name			"feedback\ntorque"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [370, 100, 390, 120]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator"
      Position		      [565, 125, 585, 145]
      ShowName		      off
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold"
      Position		      [325, 211, 360, 249]
      ForegroundColor	      "magenta"
      SampleTime	      "0.1"
    }
    Block {
      BlockType		      Reference
      Name		      "jtraj"
      Ports		      [0, 3]
      Position		      [20, 91, 70, 189]
      ForegroundColor	      "blue"
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/jtraj"
      SourceType	      ""
      q0		      "[0 0 0 0 0 0]"
      qf		      "[pi/4 pi/2 -pi/2 0 0 0]"
      tmax		      "10"
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [600, 57, 680, 113]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/plot"
      SourceType	      ""
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "rne"
      Ports		      [3, 1]
      Position		      [195, 197, 290, 263]
      ForegroundColor	      "magenta"
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/rne"
      SourceType	      ""
      robot		      "nofriction(p560, 'coulomb')"
      grav		      "[0 0 9.81]"
    }
    Line {
      SrcBlock		      "Kd"
      SrcPort		      1
      Points		      [40, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Kp"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Kd"
      DstPort		      1
    }
    Line {
      Name		      "feedback\ntorque"
      Labels		      [0, 0]
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Robot"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      1
      Points		      [30, 0]
      Branch {
	DstBlock		"plot"
	DstPort			1
      }
      Branch {
	Points			[0, -40; -445, 0]
	DstBlock		"Sum"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      2
      Points		      [15, 0; 0, -50; -405, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "jtraj"
      SrcPort		      1
      Points		      [30, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	Points			[0, 100]
	DstBlock		"rne"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "jtraj"
      SrcPort		      2
      Points		      [15, 0]
      Branch {
	Points			[0, 20]
	DstBlock		"Sum1"
	DstPort			2
      }
      Branch {
	Points			[0, 90]
	DstBlock		"rne"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Zero-Order\nHold"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "rne"
      SrcPort		      1
      DstBlock		      "Zero-Order\nHold"
      DstPort		      1
    }
    Line {
      SrcBlock		      "jtraj"
      SrcPort		      3
      Points		      [45, 0; 0, 80]
      DstBlock		      "rne"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      3
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Annotation {
      Position		      [178, 18]
      Text		      "Puma 560  torque feedforward control"
      FontSize		      18
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [47, 230]
      ForegroundColor	      "blue"
      Text		      "trajectory\n(demand)"
    }
    Annotation {
      Position		      [514, 159]
      ForegroundColor	      "orange"
      Text		      "robot state\n(actual)"
    }
    Annotation {
      Position		      [289, 291]
      ForegroundColor	      "magenta"
      Text		      "feedforward torque"
    }
  }
}