demo2.mdl

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

      ShowStatePort	      off
      AbsoluteTolerance	      "auto"
      IgnoreLimit	      off
      ZeroCross		      on
      ContinuousStateAttributes	"''"
    }
    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		      RateLimiter
      RisingSlewLimit	      "1"
      FallingSlewLimit	      "-1"
      SampleTimeMode	      "continuous"
      InitialCondition	      "0"
      LinearizeAsGain	      on
    }
    Block {
      BlockType		      Scope
      ModelBased	      off
      TickLabels	      "OneTimeTick"
      ZoomMode		      "on"
      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      LimitDataPoints	      on
      MaxDataPoints	      "5000"
      Decimation	      "1"
      SampleInput	      off
      SampleTime	      "-1"
    }
    Block {
      BlockType		      "S-Function"
      FunctionName	      "system"
      SFunctionModules	      "''"
      PortCounts	      "[]"
      SFunctionDeploymentMode off
    }
    Block {
      BlockType		      Step
      Time		      "1"
      Before		      "0"
      After		      "1"
      SampleTime	      "-1"
      VectorParams1D	      on
      ZeroCross		      on
    }
    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		      ToWorkspace
      VariableName	      "simulink_output"
      MaxDataPoints	      "1000"
      Decimation	      "1"
      SampleTime	      "0"
      FixptAsFi		      off
    }
    Block {
      BlockType		      Terminator
    }
    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		    "demo2"
    Location		    [746, 65, 1440, 315]
    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		      "B"
      Position		      [275, 135, 305, 165]
      ForegroundColor	      "blue"
      Gain		      "20"
    }
    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"
    }
    Block {
      BlockType		      Derivative
      Name		      "Derivative"
      Position		      [225, 135, 255, 165]
      ForegroundColor	      "blue"
    }
    Block {
      BlockType		      Gain
      Name		      "K"
      Position		      [235, 80, 265, 110]
      ForegroundColor	      "blue"
      Gain		      "100"
    }
    Block {
      BlockType		      Reference
      Name		      "Model Info"
      Ports		      []
      Position		      [9, 199, 176, 244]
      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   "2-link demo\n%<Creator>\n%<ModifiedDate>"
      MaskDisplayString	      "2-link demo\\npic\\nWed Apr 23 21:52:46 2008"
      HorizontalTextAlignment "Left"
      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"
	PropagatedSignals	", "
	RTWStorageClass		"Auto"
	DataLoggingNameMode	"SignalName"
      }
    }
    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	      ""
      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		      "tl"
      q0		      "[0 0]"
    }
    Block {
      BlockType		      Scope
      Name		      "Scope"
      Ports		      [1]
      Position		      [625, 119, 655, 151]
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      List {
	ListType		AxesTitles
	axes1			"%<SignalLabel>"
      }
      YMin		      "-0.5"
      YMax		      "1.5"
      DataFormat	      "StructureWithTime"
      SampleTime	      "0"
    }
    Block {
      BlockType		      Step
      Name		      "Step"
      Position		      [25, 55, 55, 85]
      SampleTime	      "0"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum"
      Ports		      [2, 1]
      Position		      [175, 85, 195, 105]
      ShowName		      off
      IconShape		      "round"
      Inputs		      "-+|"
    }
    Block {
      BlockType		      Sum
      Name		      "Sum1"
      Ports		      [2, 1]
      Position		      [320, 85, 340, 105]
      ForegroundColor	      "blue"
      ShowName		      off
      IconShape		      "round"
      Inputs		      "|++"
    }
    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"
      SampleTime	      "-1"
      SaveFormat	      "Array"
    }
    Block {
      BlockType		      Reference
      Name		      "plot"
      Ports		      [1]
      Position		      [575, 42, 655, 98]
      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		      "tl"
    }
    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
	}
	Branch {
	  DstBlock		  "Scope"
	  DstPort		  1
	}
      }
    }
    Line {
      SrcBlock		      "Sum1"
      SrcPort		      1
      DstBlock		      "Robot"
      DstPort		      1
    }
    Line {
      SrcBlock		      "K"
      SrcPort		      1
      DstBlock		      "Sum1"
      DstPort		      1
    }
    Line {
      SrcBlock		      "B"
      SrcPort		      1
      Points		      [20, 0]
      DstBlock		      "Sum1"
      DstPort		      2
    }
    Line {
      SrcBlock		      "Derivative"
      SrcPort		      1
      DstBlock		      "B"
      DstPort		      1
    }
    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
    }
    Line {
      SrcBlock		      "Clock"
      SrcPort		      1
      DstBlock		      "Mux"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      2
      Points		      [45, 0; 0, 125]
      DstBlock		      "Mux"
      DstPort		      3
    }
    Line {
      SrcBlock		      "Robot"
      SrcPort		      3
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Annotation {
      Name		      "2-link robot with flexible transmission"
      Position		      [176, 18]
      FontSize		      18
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "load position"
      Position		      [228, 52]
    }
    Annotation {
      Name		      "transmission comprises\nspring + damper"
      Position		      [251, 198]
      ForegroundColor	      "blue"
    }
    Annotation {
      Name		      "assume the motor\nis infinitely \"stiff\""
      Position		      [79, 168]
    }
  }
}