demo4.mdl

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

      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		      "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		      Sum
      IconShape		      "rectangular"
      Inputs		      "++"
      CollapseMode	      "All dimensions"
      CollapseDim	      "1"
      InputSameDT	      on
      AccumDataTypeStr	      "Inherit: Inherit via internal rule"
      OutMin		      "[]"
      OutMax		      "[]"
      OutDataTypeMode	      "Same as first input"
      OutDataType	      "fixdt(1,16,0)"
      OutScaling	      "[]"
      OutDataTypeStr	      "Inherit: Same as first input"
      LockScale		      off
      RndMeth		      "Floor"
      SaturateOnIntegerOverflow	on
      SampleTime	      "-1"
    }
    Block {
      BlockType		      Terminator
    }
    Block {
      BlockType		      ZeroOrderHold
      SampleTime	      "1"
    }
  }
  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		    "demo4"
    Location		    [722, 50, 1464, 392]
    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		      Gain
      Name		      "Kd"
      Position		      [195, 145, 225, 175]
      ForegroundColor	      "gray"
    }
    Block {
      BlockType		      Gain
      Name		      "Kp"
      Position		      [195, 95, 225, 125]
      ForegroundColor	      "gray"
      Gain		      "100"
    }
    Block {
      BlockType		      Reference
      Name		      "Model Info"
      Ports		      []
      Position		      [20, 284, 182, 329]
      ShowName		      off
      FontName		      "Arial"
      SourceBlock	      "simulink/Model-Wide\nUtilities/Model Info"
      SourceType	      "CMBlock"
      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"
      InitialBlockCM	      "none"
      BlockCM		      "none"
      Frame		      "on"
      DisplayStringWithTags   "Torque feedforward control\n%<Creator>\n%<LastModificationDate>"
      MaskDisplayString	      "Torque feedforward control\\npic\\n18-Feb-2004 09:06:24"
      HorizontalTextAlignment "Left"
      LeftAlignmentValue      "0.02"
      SourceBlockDiagram      "demo4"
      TagMaxNumber	      "20"
    }
    Block {
      BlockType		      Reference
      Name		      "Robot"
      Ports		      [1, 3]
      Position		      [425, 74, 540, 146]
      ForegroundColor	      "orange"
      BackgroundColor	      "red"
      DropShadow	      on
      SourceBlock	      "roblocks/Robot"
      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		      "nofriction(p560, 'coulomb')"
      q0		      "[0 0 0 0 0 0]"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [120, 100, 140, 120]
      ForegroundColor	      "gray"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [145, 150, 165, 170]
      ForegroundColor	      "gray"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum2"
      Ports		      [2, 1]
      Position		      [260, 100, 280, 120]
      ForegroundColor	      "gray"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
      Port {
	PortNumber		1
	Name			"feedback\ntorque"
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
      }
    }
    Block {
      BlockType		      Sum
      Name		      "Sum3"
      Ports		      [2, 1]
      Position		      [370, 100, 390, 120]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator"
      Position		      [565, 125, 585, 145]
      ShowName		      off
    }
    Block {
      BlockType		      ZeroOrderHold
      Name		      "Zero-Order\nHold"
      Position		      [325, 211, 360, 249]
      ForegroundColor	      "magenta"
      SampleTime	      "0.1"
    }
    Block {
      BlockType		      Reference
      Name		      "jtraj"
      Ports		      [0, 3]
      Position		      [20, 91, 70, 189]
      ForegroundColor	      "blue"
      BackgroundColor	      "red"
      LinkData {
	BlockName		"MATLAB Fcn"
	DialogParameters {
	  MATLABFcn		  "squeeze(interp1(t,q,u))"
	}
	BlockName		"MATLAB Fcn1"
	DialogParameters {
	  MATLABFcn		  "squeeze(interp1(t,qd,u))"
	}
	BlockName		"MATLAB Fcn2"
	DialogParameters {
	  MATLABFcn		  "squeeze(interp1(t,qdd,u))"
	}
      }
      SourceBlock	      "roblocks/jtraj"
      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"
      q0		      "[0 0 0 0 0 0]"
      qf		      "[pi/4 pi/2 -pi/2 0 0 0]"
      tmax		      "10"
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [600, 57, 680, 113]
      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		      "rne"
      Ports		      [3, 1]
      Position		      [195, 197, 290, 263]
      ForegroundColor	      "magenta"
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/rne"
      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		      "nofriction(p560, 'coulomb')"
      grav		      "[0 0 9.81]"
    }
    Line {
      SrcBlock		      "Kd"
      SrcPort		      1
      Points		      [40, 0]
      DstBlock		      "Sum2"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Sum"
      SrcPort		      1
      DstBlock		      "Kp"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Kp"
      SrcPort		      1
      DstBlock		      "Sum2"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Kd"
      DstPort		      1
    }
    Line {
      Name		      "feedback\ntorque"
      Labels		      [0, 0]
      SrcBlock		      "Sum2"
      SrcPort		      1
      DstBlock		      "Sum3"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Sum3"
      SrcPort		      1
      DstBlock		      "Robot"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      1
      Points		      [30, 0]
      Branch {
	DstBlock		"plot"
	DstPort			1
      }
      Branch {
	Points			[0, -40; -445, 0]
	DstBlock		"Sum"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      2
      Points		      [15, 0; 0, -50; -405, 0]
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "jtraj"
      SrcPort		      1
      Points		      [30, 0]
      Branch {
	DstBlock		"Sum"
	DstPort			2
      }
      Branch {
	Points			[0, 100]
	DstBlock		"rne"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "jtraj"
      SrcPort		      2
      Points		      [15, 0]
      Branch {
	Points			[0, 20]
	DstBlock		"Sum1"
	DstPort			2
      }
      Branch {
	Points			[0, 90]
	DstBlock		"rne"
	DstPort			2
      }
    }
    Line {
      SrcBlock		      "Zero-Order\nHold"
      SrcPort		      1
      Points		      [15, 0]
      DstBlock		      "Sum3"
      DstPort		      2
    }
    Line {
      SrcBlock		      "rne"
      SrcPort		      1
      DstBlock		      "Zero-Order\nHold"
      DstPort		      1
    }
    Line {
      SrcBlock		      "jtraj"
      SrcPort		      3
      Points		      [45, 0; 0, 80]
      DstBlock		      "rne"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      3
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Annotation {
      Name		      "Puma 560  torque feedforward control"
      Position		      [178, 18]
      FontSize		      18
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "trajectory\n(demand)"
      Position		      [47, 230]
      ForegroundColor	      "blue"
    }
    Annotation {
      Name		      "robot state\n(actual)"
      Position		      [514, 159]
      ForegroundColor	      "orange"
    }
    Annotation {
      Name		      "feedforward torque"
      Position		      [289, 291]
      ForegroundColor	      "magenta"
    }
  }
}