demo6.mdl

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

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      BlockType		      MATLABFcn
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      Position		      [155, 95, 215, 125]
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    Block {
      BlockType		      Constant
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      Position		      [530, 289, 615, 341]
      BackgroundColor	      "lightBlue"
      Value		      "[256 456;456 456;456 256;256 256]"
      VectorParams1D	      off
    }
    Block {
      BlockType		      Display
      Name		      "feature error"
      Ports		      [1]
      Position		      [635, 345, 725, 515]
      Orientation	      "left"
      Format		      "bank"
      Decimation	      "1"
      Lockdown		      off
    }
    Block {
      BlockType		      Display
      Name		      "feature error\nnorm"
      Ports		      [1]
      Position		      [940, 350, 1030, 380]
      Decimation	      "1"
      Lockdown		      off
    }
    Block {
      BlockType		      Scope
      Name		      "feature error1"
      Ports		      [1]
      Position		      [900, 424, 930, 456]
      Floating		      off
      Location		      [20, 67, 344, 306]
      Open		      on
      NumInputPorts	      "1"
      ZoomMode		      "yonly"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMin		      "10"
      YMax		      "55"
      SaveName		      "ScopeData1"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
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    Block {
      BlockType		      Reference
      Name		      "fkine"
      Ports		      [1, 1]
      Position		      [440, 187, 490, 243]
      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		      [155, 165, 220, 235]
      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"
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    Block {
      BlockType		      Reference
      Name		      "jacobn"
      Ports		      [1, 1]
      Position		      [35, 168, 100, 232]
      BackgroundColor	      "red"
      SourceBlock	      "roblocks/jacobn"
      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		      Display
      Name		      "manip jac condition"
      Ports		      [1]
      Position		      [235, 95, 325, 125]
      Decimation	      "1"
      Lockdown		      off
    }
    Block {
      BlockType		      MATLABFcn
      Name		      "pinv"
      Ports		      [1, 1]
      Position		      [845, 200, 905, 230]
      BackgroundColor	      "lightBlue"
      MATLABFcn		      "pinv(u)"
      Output1D		      off
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [440, 27, 520, 83]
      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		      Display
      Name		      "visjac\ncondition"
      Ports		      [1]
      Position		      [920, 80, 1010, 110]
      Decimation	      "1"
      Lockdown		      off
    }
    Block {
      BlockType		      SubSystem
      Name		      "visual\nJacobian"
      Ports		      [1, 1]
      Position		      [695, 189, 765, 241]
      BackgroundColor	      "lightBlue"
      DropShadow	      on
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskPromptString	      "Camera params|Assumed depth (m)"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVarAliasString      ","
      MaskVariables	      "camdata=@1;z=@2;"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "autoscale"
      MaskValueString	      "[8e-3 80e3 80e3 256 256]|2"
      MaskTabNameString	      ","
      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"
	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
	TiledPageScale		1
	ShowPageBoundaries	off
	ZoomFactor		"100"
	Block {
	  BlockType		  Inport
	  Name			  "uv"
	  Position		  [25, 33, 55, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [105, 25, 165, 55]
	  MATLABFcn		  "visjac(u,camdata,z)"
	  OutputDimensions	  "[8 6]"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "J"
	  Position		  [210, 33, 240, 47]
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    Line {
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    Annotation {
      Name		      "Image-based visual servo control"
      Position		      [164, 19]
      FontSize		      18
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "desired camera velocity"
      Position		      [837, 529]
    }
  }
}