📄 demo6.mdl
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} Block { BlockType Constant Name "desired\nimage plane\ncoordinates" Position [530, 289, 615, 341] BackgroundColor "lightBlue" Value "[256 456;456 456;456 256;256 256]" VectorParams1D off } Block { BlockType Scope Name "feature \nerror" Ports [1] Position [870, 414, 900, 446] Floating off Location [26, 100, 350, 339] Open on NumInputPorts "1" TickLabels "OneTimeTick" ZoomMode "on" List { ListType AxesTitles axes1 "%<SignalLabel>" } Grid "on" TimeRange "20" YMin "-0.2" YMax "0.1" SaveToWorkspace off SaveName "ScopeData" DataFormat "StructureWithTime" LimitDataPoints on MaxDataPoints "5000" Decimation "1" SampleInput off SampleTime "0" } Block { BlockType Display Name "feature error" Ports [1] Position [635, 345, 725, 515] Orientation "left" Format "bank" Decimation "1" Floating off SampleTime "-1" } Block { BlockType Display Name "feature error\nnorm" Ports [1] Position [940, 350, 1030, 380] Format "short" Decimation "1" Floating off SampleTime "-1" } Block { BlockType Reference Name "fkine" Ports [1, 1] Position [440, 187, 490, 243] BackgroundColor "red" SourceBlock "roblocks/fkine" SourceType "" robot "p560" } Block { BlockType Reference Name "ijacob" Ports [1, 1] Position [155, 165, 220, 235] BackgroundColor "red" SourceBlock "roblocks/ijacob" SourceType "" } Block { BlockType Reference Name "jacobn" Ports [1, 1] Position [35, 168, 100, 232] BackgroundColor "red" SourceBlock "roblocks/jacobn" SourceType "" robot "p560" } Block { BlockType Display Name "manip jac condition" Ports [1] Position [235, 95, 325, 125] Format "short" Decimation "1" Floating off SampleTime "-1" } Block { BlockType MATLABFcn Name "pinv" Position [845, 200, 905, 230] BackgroundColor "lightBlue" MATLABFcn "pinv(u)" OutputDimensions "-1" OutputSignalType "auto" Output1D off } Block { BlockType Reference Name "plot" Ports [1] Position [440, 27, 520, 83] BackgroundColor "red" SourceBlock "roblocks/plot" SourceType "" robot "p560" } Block { BlockType Display Name "visjac\ncondition" Ports [1] Position [920, 80, 1010, 110] Format "short" Decimation "1" Floating off SampleTime "-1" } Block { BlockType SubSystem Name "visual\nJacobian" Ports [1, 1] Position [695, 189, 765, 241] BackgroundColor "lightBlue" DropShadow on ShowPortLabels on TreatAsAtomicUnit off RTWSystemCode "Auto" RTWFcnNameOpts "Auto" RTWFileNameOpts "Auto" MaskPromptString "Camera params|Assumed depth (m)" MaskStyleString "edit,edit" MaskTunableValueString "on,on" MaskCallbackString "|" MaskEnableString "on,on" MaskVisibilityString "on,on" MaskToolTipString "on,on" MaskVariables "camdata=@1;z=@2;" MaskIconFrame on MaskIconOpaque on MaskIconRotate "none" MaskIconUnits "autoscale" MaskValueString "[8e-3 80e3 80e3 256 256]|2" MaskVariableAliases "," System { Name "visual\nJacobian" Location [186, 604, 495, 730] Open off ModelBrowserVisibility off ModelBrowserWidth 200 ScreenColor "white" PaperOrientation "landscape" PaperPositionMode "auto" PaperType "usletter" PaperUnits "inches" ZoomFactor "100" AutoZoom on Block { BlockType Inport Name "uv" Position [25, 33, 55, 47] Port "1" Interpolate on } Block { BlockType MATLABFcn Name "MATLAB Fcn" Position [105, 25, 165, 55] MATLABFcn "visjac(u,camdata,z)" OutputDimensions "[8 6]" OutputSignalType "auto" Output1D off } Block { BlockType Outport Name "J" Position [210, 33, 240, 47] Port "1" OutputWhenDisabled "held" InitialOutput "[]" } Line { SrcBlock "MATLAB Fcn" SrcPort 1 DstBlock "J" DstPort 1 } Line { SrcBlock "uv" SrcPort 1 DstBlock "MATLAB Fcn" DstPort 1 } } } Line { Name "q" Labels [0, 0] SrcBlock "Rate\ncontrolled\nrobot\naxes" SrcPort 1 Points [0, 0; 30, 0] Branch { DstBlock "fkine" DstPort 1 } Branch { Points [0, -160] DstBlock "plot" DstPort 1 } Branch { Labels [2, 0] Points [0, -160; -375, 0] DstBlock "jacobn" DstPort 1 } } Line { SrcBlock "jacobn" SrcPort 1 Points [0, 0; 20, 0] Branch { DstBlock "ijacob" DstPort 1 } Branch { Points [0, -90] DstBlock "cond()" DstPort 1 } } Line { Labels [1, 0] SrcBlock "Product" SrcPort 1 DstBlock "Rate\ncontrolled\nrobot\naxes" DstPort 1 } Line { SrcBlock "camera" SrcPort 1 Points [15, 0; 25, 0] Branch { DstBlock "visual\nJacobian" DstPort 1 } Branch { DstBlock "Sum" DstPort 1 } } Line { SrcBlock "fkine" SrcPort 1 DstBlock "camera" DstPort 1 } Line { SrcBlock "visual\nJacobian" SrcPort 1 Points [30, 0] Branch { DstBlock "pinv" DstPort 1 } Branch { Points [0, -120] DstBlock "MATLAB Fcn2" DstPort 1 } } Line { SrcBlock "Sum" SrcPort 1 DstBlock "MATLAB Fcn" DstPort 1 } Line { SrcBlock "pinv" SrcPort 1 DstBlock "Product1" DstPort 1 } Line { SrcBlock "desired\nimage plane\ncoordinates" SrcPort 1 DstBlock "Sum" DstPort 2 } Line { Name "feature vel" Labels [0, 0] SrcBlock "MATLAB Fcn" SrcPort 1 Points [50, 0] Branch { Points [95, 0; 0, -70] DstBlock "Product1" DstPort 2 } Branch { Points [0, 50] Branch { DstBlock "MATLAB Fcn1" DstPort 1 } Branch { Points [0, 65] Branch { DstBlock "feature error" DstPort 1 } Branch { DstBlock "feature \nerror" DstPort 1 } } } } Line { SrcBlock "ijacob" SrcPort 1 DstBlock "Product" DstPort 1 } Line { SrcBlock "MATLAB Fcn2" SrcPort 1 DstBlock "visjac\ncondition" DstPort 1 } Line { SrcBlock "cond()" SrcPort 1 DstBlock "manip jac condition" DstPort 1 } Line { SrcBlock "MATLAB Fcn1" SrcPort 1 DstBlock "feature error\nnorm" DstPort 1 } Line { SrcBlock "Product1" SrcPort 1 Points [40, 0; 0, 310; -550, 0] Branch { DstBlock "Gain1" DstPort 1 } Branch { Points [0, -135] DstBlock "Cartesian velocity dmd" DstPort 1 } } Line { SrcBlock "Gain1" SrcPort 1 Points [-55, 0; 0, -310] DstBlock "Product" DstPort 2 } Annotation { Position [164, 19] Text "Image-based visual servo control" FontSize 18 FontWeight "bold" } Annotation { Position [837, 529] Text "desired camera velocity" } }}
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