demo2.mdl

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

Model {
  Name			  "demo2"
  Version		  4.00
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  LibraryLinkDisplay	  "all"
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  ShowPortDataTypes	  off
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  CovPath		  "/"
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  CovHtmlReporting	  on
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  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 11:38:02 2002"
  ModelVersionFormat	  "1.%<AutoIncrement:19>"
  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]"
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  InitialState		  "xInitial"
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  FinalStateName	  "xFinal"
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  AlgebraicLoopMsg	  "warning"
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  UnconnectedOutputMsg	  "warning"
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  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
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  RTWMakeCommand	  "make_rtw"
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  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
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    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
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  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
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    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
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  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "demo2"
    Location		    [305, 502, 999, 752]
    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		      "B"
      Position		      [275, 135, 305, 165]
      ForegroundColor	      "blue"
      Gain		      "20"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [360, 166, 430, 194]
      DisplayTime	      on
      Decimation	      "10"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [25, 105, 55, 135]
      Value		      "0"
      VectorParams1D	      on
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    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [225, 135, 255, 165]
      ForegroundColor	      "blue"
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    Block {
      BlockType		      Gain
      Name		      "K"
      Position		      [235, 80, 265, 110]
      ForegroundColor	      "blue"
      Gain		      "100"
      Multiplication	      "Element-wise(K.*u)"
      SaturateOnIntegerOverflow	on
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    Block {
      BlockType		      Reference
      Name		      "Model Info"
      Ports		      []
      Position		      [9, 199, 176, 244]
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      FontName		      "Arial"
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      SourceType	      "CMBlock"
      InitialBlockCM	      "none"
      BlockCM		      "none"
      Frame		      "on"
      DisplayStringWithTags   "2-link demo\n%<Creator>\n%<ModifiedDate>"
      MaskDisplayString	      "2-link demo\\npic\\nMon Apr  8 11:37:04 2002"
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      LeftAlignmentValue      "0.02"
      SourceBlockDiagram      "demo2"
      TagMaxNumber	      "20"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux"
      Ports		      [3, 1]
      Position		      [570, 168, 575, 232]
      ShowName		      off
      Inputs		      "3"
      DisplayOption	      "bar"
    }
    Block {
      BlockType		      Mux
      Name		      "Mux1"
      Ports		      [2, 1]
      Position		      [130, 45, 135, 145]
      ShowName		      off
      Inputs		      "2"
      DisplayOption	      "bar"
      Port {
	PortNumber		1
	Name			"motor\nposition"
	TestPoint		off
	LinearAnalysisOutput	off
	LinearAnalysisInput	off
	RTWStorageClass		"Auto"
      }
    }
    Block {
      BlockType		      RateLimiter
      Name		      "Rate Limiter"
      Position		      [80, 54, 110, 86]
      RisingSlewLimit	      "50"
      FallingSlewLimit	      "-50"
    }
    Block {
      BlockType		      Reference
      Name		      "Robot"
      Ports		      [1, 3]
      Position		      [355, 59, 470, 131]
      BackgroundColor	      "red"
      DropShadow	      on
      SourceBlock	      "roblocks/Robot"
      SourceType	      ""
      robot		      "p560"
      q0		      "[0 0 0 0 0 0]"
    }
    Block {
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      Name		      "Scope"
      Ports		      [1]
      Position		      [625, 119, 655, 151]
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-0.5"
      YMax		      "1.5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "StructureWithTime"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [25, 55, 55, 85]
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "0"
      VectorParams1D	      on
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [175, 85, 195, 105]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
      SaturateOnIntegerOverflow	on
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    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [320, 85, 340, 105]
      ForegroundColor	      "blue"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      SaturateOnIntegerOverflow	on
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator"
      Position		      [490, 110, 510, 130]
      ShowName		      off
    }
    Block {
      BlockType		      ToWorkspace
      Name		      "To Workspace"
      Position		      [600, 185, 660, 215]
      VariableName	      "simout"
      MaxDataPoints	      "inf"
      Decimation	      "1"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [575, 42, 655, 98]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/plot"
      SourceType	      ""
      robot		      "p560"
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Step"
      SrcPort		      1
      DstBlock		      "Rate Limiter"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Rate Limiter"
      SrcPort		      1
      DstBlock		      "Mux1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      Points		      [5, 0]
      Branch {
	DstBlock		"K"
	DstPort			1
      }
      Branch {
	Points			[0, 55]
	DstBlock		"Derivative"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      1
      Points		      [55, 0]
      Branch {
	DstBlock		"plot"
	DstPort			1
      }
      Branch {
	Points			[0, -25; -345, 0]
	DstBlock		"Sum"
	DstPort			1
      }
      Branch {
	Points			[0, 65]
	Branch {
	  Points		  [0, 65]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
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      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Robot"
      DstPort		      1
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      SrcBlock		      "K"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
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    Line {
      SrcBlock		      "B"
      SrcPort		      1
      Points		      [20, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "B"
      DstPort		      1
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    Line {
      Name		      "motor\nposition"
      Labels		      [0, 0]
      SrcBlock		      "Mux1"
      SrcPort		      1
      DstBlock		      "Sum"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Mux"
      SrcPort		      1
      DstBlock		      "To Workspace"
      DstPort		      1
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    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
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      SrcBlock		      "Robot"
      SrcPort		      2
      Points		      [45, 0; 0, 125]
      DstBlock		      "Mux"
      DstPort		      3
    }
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      SrcBlock		      "Robot"
      SrcPort		      3
      DstBlock		      "Terminator"
      DstPort		      1
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    Annotation {
      Position		      [176, 18]
      Text		      "2-link robot with flexible transmission"
      FontSize		      18
      FontWeight	      "bold"
    }
    Annotation {
      Position		      [228, 52]
      Text		      "load position"
    }
    Annotation {
      Position		      [251, 198]
      ForegroundColor	      "blue"
      Text		      "transmission comprises\nspring + damper"
    }
    Annotation {
      Position		      [79, 168]
      Text		      "assume the motor\nis infinitely \"stiff\""
    }
  }
}