demo5.mdl

Robot tool box - provides many functions that are useful in robotics including such things as kinem

      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: auto"
      SignalType	      "auto"
      SamplingMode	      "auto"
      LatchByDelayingOutsideSignal off
      LatchByCopyingInsideSignal off
      Interpolate	      on
    }
    Block {
      BlockType		      Integrator
      ExternalReset	      "none"
      InitialConditionSource  "internal"
      InitialCondition	      "0"
      LimitOutput	      off
      UpperSaturationLimit    "inf"
      LowerSaturationLimit    "-inf"
      ShowSaturationPort      off
      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
      ContinuousStateAttributes	"''"
    }
    Block {
      BlockType		      MATLABFcn
      MATLABFcn		      "sin"
      OutputDimensions	      "-1"
      OutputSignalType	      "auto"
      Output1D		      on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Mux
      Inputs		      "4"
      DisplayOption	      "none"
      UseBusObject	      off
      BusObject		      "BusObject"
      NonVirtualBus	      off
    }
    Block {
      BlockType		      Outport
      Port		      "1"
      UseBusObject	      off
      BusObject		      "BusObject"
      BusOutputAsStruct	      off
      PortDimensions	      "-1"
      SampleTime	      "-1"
      OutMin		      "[]"
      OutMax		      "[]"
      DataType		      "auto"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: auto"
      SignalType	      "auto"
      SamplingMode	      "auto"
      OutputWhenDisabled      "held"
      InitialOutput	      "[]"
    }
    Block {
      BlockType		      Product
      Inputs		      "2"
      Multiplication	      "Element-wise(.*)"
      CollapseMode	      "All dimensions"
      CollapseDim	      "1"
      InputSameDT	      on
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Same as first input"
      LockScale		      off
      RndMeth		      "Zero"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Reference
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
      SFunctionDeploymentMode off
    }
    Block {
      BlockType		      SubSystem
      ShowPortLabels	      "FromPortIcon"
      Permissions	      "ReadWrite"
      PermitHierarchicalResolution "All"
      TreatAsAtomicUnit	      off
      CheckFcnCallInpInsideContextMsg off
      SystemSampleTime	      "-1"
      RTWFcnNameOpts	      "Auto"
      RTWFileNameOpts	      "Auto"
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      SimViewingDevice	      off
      DataTypeOverride	      "UseLocalSettings"
      MinMaxOverflowLogging   "UseLocalSettings"
    }
    Block {
      BlockType		      Constant
      Value		      "1"
      VectorParams1D	      on
      SamplingMode	      "Sample based"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Inherit from 'Constant value'"
      OutDataType	      "fixdt(1,16,0)"
      ConRadixGroup	      "Use specified scaling"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Inherit from 'Constant value'"
      SampleTime	      "inf"
      FramePeriod	      "inf"
    }
  }
  AnnotationDefaults {
    HorizontalAlignment	    "center"
    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    UseDisplayTextAsClickCallback off
  }
  LineDefaults {
    FontName		    "Helvetica"
    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
  }
  System {
    Name		    "demo5"
    Location		    [568, 52, 1407, 435]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "portrait"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
    TiledPageScale	    1
    ShowPageBoundaries	    off
    ZoomFactor		    "100"
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Clock
      Name		      "Clock"
      Position		      [20, 154, 70, 176]
      ForegroundColor	      "magenta"
      DisplayTime	      on
      Decimation	      "10"
    }
    Block {
      BlockType		      Constant
      Name		      "Constant"
      Position		      [100, 280, 130, 310]
      ForegroundColor	      "magenta"
      ShowName		      off
      Value		      "0"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn"
      Position		      [95, 150, 155, 180]
      ForegroundColor	      "magenta"
      ShowName		      off
      Expr		      "0.05*cos(u)+0.5"
    }
    Block {
      BlockType		      Fcn
      Name		      "Fcn1"
      Position		      [95, 200, 155, 230]
      ForegroundColor	      "magenta"
      ShowName		      off
      Expr		      "0.05*sin(u)"
    }
    Block {
      BlockType		      Gain
      Name		      "Gain"
      Position		      [460, 169, 500, 201]
      ShowName		      off
      Gain		      "-0.6"
    }
    Block {
      BlockType		      Product
      Name		      "Product"
      Ports		      [2, 1]
      Position		      [400, 155, 435, 215]
      ShowName		      off
      Multiplication	      "Matrix(*)"
    }
    Block {
      BlockType		      Integrator
      Name		      "Rate\ncontrolled\nrobot\naxes"
      Ports		      [1, 1]
      Position		      [530, 162, 565, 208]
      DropShadow	      on
      InitialCondition	      "[0.2763    0.9125    2.9359         0    2.4348   -0.2763]"
      Port {
	PortNumber		1
	Name			"q"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
      }
    }
    Block {
      BlockType		      Reference
      Name		      "T2xyz"
      Ports		      [1, 3]
      Position		      [705, 217, 755, 273]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/T2xyz"
      SourceType	      ""
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
    }
    Block {
      BlockType		      Reference
      Name		      "XY Graph"
      Ports		      [2]
      Position		      [790, 216, 820, 249]
      SourceBlock	      "simulink/Sinks/XY Graph"
      SourceType	      "XY scope."
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      xmin		      "0.4"
      xmax		      "0.6"
      ymin		      "-0.1"
      ymax		      "0.1"
      st		      "-1"
    }
    Block {
      BlockType		      Reference
      Name		      "fkine"
      Ports		      [1, 1]
      Position		      [615, 157, 665, 213]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/fkine"
      SourceType	      ""
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "ijacob"
      Ports		      [1, 1]
      Position		      [300, 55, 365, 125]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/ijacob"
      SourceType	      ""
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
    }
    Block {
      BlockType		      Reference
      Name		      "jacob0\n"
      Ports		      [1, 1]
      Position		      [210, 55, 275, 125]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/jacob0\n"
      SourceType	      ""
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [710, 97, 790, 153]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/plot"
      SourceType	      ""
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      robot		      "p560"
    }
    Block {
      BlockType		      Reference
      Name		      "tr2diff"
      Ports		      [2, 1]
      Position		      [275, 172, 325, 228]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/tr2diff"
      SourceType	      ""
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
      robot		      "robot"
    }
    Block {
      BlockType		      Reference
      Name		      "xyz2T"
      Ports		      [3, 1]
      Position		      [195, 158, 245, 212]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/xyz2T"
      SourceType	      ""
      ShowPortLabels	      "FromPortIcon"
      SystemSampleTime	      "-1"
      FunctionWithSeparateData off
      RTWMemSecFuncInitTerm   "Inherit from model"
      RTWMemSecFuncExecute    "Inherit from model"
      RTWMemSecDataConstants  "Inherit from model"
      RTWMemSecDataInternal   "Inherit from model"
      RTWMemSecDataParameters "Inherit from model"
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      Points		      [0, 0]
      Branch {
	Points			[0, 0]
	DstBlock		"Fcn"
	DstPort			1
      }
      Branch {
	Points			[0, 50]
	DstBlock		"Fcn1"
	DstPort			1
      }
    }
    Line {
      Name		      "q"
      Labels		      [0, 0]
      SrcBlock		      "Rate\ncontrolled\nrobot\naxes"
      SrcPort		      1
      Points		      [0, 0; 15, 0]
      Branch {
	DstBlock		"fkine"
	DstPort			1
      }
      Branch {
	Points			[0, -60]
	DstBlock		"plot"
	DstPort			1
      }
      Branch {
	Labels			[2, 0]
	Points			[0, -155; -390, 0]
	DstBlock		"jacob0\n"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Constant"
      SrcPort		      1
      Points		      [45, 0]
      DstBlock		      "xyz2T"
      DstPort		      3
    }
    Line {
      SrcBlock		      "T2xyz"
      SrcPort		      1
      DstBlock		      "XY Graph"
      DstPort		      1
    }
    Line {
      SrcBlock		      "T2xyz"
      SrcPort		      2
      Points		      [15, 0]
      DstBlock		      "XY Graph"
      DstPort		      2
    }
    Line {
      SrcBlock		      "tr2diff"
      SrcPort		      1
      DstBlock		      "Product"
      DstPort		      2
    }
    Line {
      SrcBlock		      "xyz2T"
      SrcPort		      1
      DstBlock		      "tr2diff"
      DstPort		      1
    }
    Line {
      SrcBlock		      "fkine"
      SrcPort		      1
      Points		      [15, 0; 0, 60; -5, 0]
      Branch {
	DstBlock		"T2xyz"
	DstPort			1
      }
      Branch {
	Points			[-425, 0; 0, -30]
	DstBlock		"tr2diff"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Fcn1"
      SrcPort		      1
      Points		      [0, -30]
      DstBlock		      "xyz2T"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Fcn"
      SrcPort		      1
      DstBlock		      "xyz2T"
      DstPort		      1
    }
    Line {
      SrcBlock		      "jacob0\n"
      SrcPort		      1
      DstBlock		      "ijacob"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Product"
      SrcPort		      1
      DstBlock		      "Gain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "ijacob"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Product"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Gain"
      SrcPort		      1
      DstBlock		      "Rate\ncontrolled\nrobot\naxes"
      DstPort		      1
    }
    Annotation {
      Name		      "Cartesian circle"
      Position		      [91, 133]
      ForegroundColor	      "magenta"
    }
    Annotation {
      Name		      "Cartesian control"
      Position		      [99, 19]
      FontSize		      18
      FontWeight	      "bold"
    }
  }
}