demo1.mdl

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

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  Name			  "demo1"
  Version		  4.00
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  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 11:39:40 2002"
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  SimParamPage		  "Solver"
  StartTime		  "0.0"
  StopTime		  "10.0"
  SolverMode		  "Auto"
  Solver		  "ode45"
  RelTol		  "1e-3"
  AbsTol		  "auto"
  Refine		  "1"
  MaxStep		  "auto"
  MinStep		  "auto"
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  InitialStep		  "auto"
  FixedStep		  "auto"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
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  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  on
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  SaveState		  off
  StateSaveName		  "xout"
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  OutputSaveName	  "yout"
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  InitialState		  "xInitial"
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  FinalStateName	  "xFinal"
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  CheckForMatrixSingularity "none"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  LinearizationMsg	  "none"
  VectorMatrixConversionMsg "none"
  SfunCompatibilityCheckMsg "none"
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  ArrayBoundsChecking	  "none"
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  ZeroCross		  on
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  RTWSystemTargetFile	  "grt.tlc"
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  ExtModeMexFile	  "ext_comm"
  ExtModeBatchMode	  off
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  ExtModeTrigMode	  "oneshot"
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  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
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    FontWeight		    "normal"
    FontAngle		    "normal"
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    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
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  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "demo1"
    Location		    [440, 590, 940, 850]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "portrait"
    PaperPositionMode	    "auto"
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    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
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      Name		      "Clock"
      Position		      [85, 156, 155, 184]
      DisplayTime	      on
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      SourceType	      "CMBlock"
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      BlockCM		      "none"
      Frame		      "on"
      DisplayStringWithTags   "Simple dynamics demo\n%<Creator>\n%<LastModific"
"ationDate>"
      MaskDisplayString	      "Simple dynamics demo\\npic\\n11-Feb-2002 14:19:"
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      DisplayOption	      "bar"
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      BlockType		      Reference
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      Position		      [115, 59, 230, 131]
      BackgroundColor	      "red"
      DropShadow	      on
      SourceBlock	      "roblocks/Robot"
      SourceType	      ""
      robot		      "p560"
      q0		      "[0 0 0 0 0 0]"
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      Name		      "To Workspace"
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      SampleTime	      "-1"
      SaveFormat	      "Array"
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    Block {
      BlockType		      Constant
      Name		      "Zero\ntorque"
      Position		      [10, 78, 75, 112]
      Value		      "[0 0 0 0 0 0]'"
      VectorParams1D	      on
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    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [350, 42, 430, 98]
      BackgroundColor	      "red"
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      SourceType	      ""
      robot		      "p560"
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      SrcPort		      1
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      DstPort		      1
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      Points		      [70, 0]
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	DstBlock		"plot"
	DstPort			1
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	Points			[0, 105]
	DstBlock		"Mux"
	DstPort			2
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      Points		      [105, 0; 0, -15]
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      SrcPort		      2
      Points		      [60, 0; 0, 100]
      DstBlock		      "Mux"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      3
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Annotation {
      Position		      [159, 21]
      Text		      "Puma560 collapsing under gravity"
      FontSize		      18
      FontWeight	      "bold"
    }
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}