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📄 demo6.mdl

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