roblocks.mdl

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

      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"ijacob"
	Location		[236, 485, 600, 634]
	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			  "J"
	  Position		  [20, 33, 50, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "inverse\njacobian"
	  Ports			  [1, 1]
	  Position		  [110, 25, 170, 55]
	  MATLABFcn		  "inv(u)"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "Ji"
	  Position		  [220, 33, 250, 47]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "inverse\njacobian"
	  SrcPort		  1
	  DstBlock		  "Ji"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "J"
	  SrcPort		  1
	  DstBlock		  "inverse\njacobian"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "jacob0\n"
      Ports		      [1, 1]
      Position		      [425, 165, 490, 235]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Robot Jacobian for end-effector coordinates"
      MaskPromptString	      "Robot object"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskInitialization      "n=robot.n;\n"
      MaskDisplay	      "text(0.4, 0.7, 'J', 'verticalAlignment', 'top', 'horizontalAlignment', 'left')\ntext(0.4, 0.7, '0', 'verticalAlignment', 'bottom', 'horizontalAlignment', 'right')\ntext(0.5, 0.2, robot.name,  'horizontalAlignment', 'center')\nport_label('input', 1, 'q')\nport_label('output', 1, 'J')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
      System {
	Name			"jacob0\n"
	Location		[580, 550, 944, 699]
	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			  "q"
	  Position		  [20, 33, 50, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [100, 25, 160, 55]
	  MATLABFcn		  "jacob0(robot,u)"
	  OutputDimensions	  "[6 n]"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "J"
	  Position		  [220, 33, 250, 47]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "J"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "jacobn"
      Ports		      [1, 1]
      Position		      [425, 78, 490, 142]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Robot Jacobian for end-effector coordinates"
      MaskPromptString	      "Robot object"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskInitialization      "n=robot.n;"
      MaskDisplay	      "text(0.5, 0.4, 'J', 'verticalAlignment', 'top', 'horizontalAlignment', 'left')\ntext(0.5, 0.4, 'n', 'verticalAlignment', 'bottom', 'horizontalAlignment', 'right')\ntext(0.9, 0.9, robot.name,  'horizontalAlignment', 'right')\nport_label('input', 1, 'q')\nport_label('output', 1, 'J')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
      System {
	Name			"jacobn"
	Location		[167, 513, 531, 662]
	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			  "q"
	  Position		  [20, 33, 50, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [100, 25, 160, 55]
	  MATLABFcn		  "jacobn(robot,u)"
	  OutputDimensions	  "[6 n]"
	  Output1D		  off
	}
	Block {
	  BlockType		  Outport
	  Name			  "J"
	  Position		  [220, 33, 250, 47]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "J"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "jtraj"
      Ports		      [0, 3]
      Position		      [315, 81, 365, 149]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Joint interpolated trajectory."
      MaskHelp		      "Generate quintic polynomial to move from initial to final joint angles as specified.  Initial and final velocity are assumed to be zero.\n\nOutputs joint angles as well as joint angle rates."
      MaskPromptString	      "q0|qf|tmax"
      MaskStyleString	      "edit,edit,edit"
      MaskTunableValueString  "on,on,on"
      MaskCallbackString      "||"
      MaskEnableString	      "on,on,on"
      MaskVisibilityString    "on,on,on"
      MaskToolTipString	      "on,on,on"
      MaskVarAliasString      ",,"
      MaskVariables	      "q0=@1;qf=@2;tmax=@3;"
      MaskInitialization      "n = length(q0);\nif length(q0) ~= length(qf) ,\n error('q0 and qf must be same length')\nend\nt=[0:100]'/100*tmax;\n[q,qd,qdd] = jtraj(q0, qf, t);"
      MaskDisplay	      "port_label('output', 1, 'q')\nport_label('output', 2, 'qd')\nport_label('output', 3, 'qdd')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "[0 0 0 0 0 0]|[pi/4 pi/2 -pi/2 0 0 0]|10"
      MaskTabNameString	      ",,"
      System {
	Name			"jtraj"
	Location		[521, 478, 885, 669]
	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		  Clock
	  Name			  "Clock"
	  Position		  [20, 30, 40, 50]
	  Decimation		  "10"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [105, 25, 165, 55]
	  MATLABFcn		  "interp1(t,q,u)"
	  OutputDimensions	  "n"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn1"
	  Ports			  [1, 1]
	  Position		  [110, 75, 170, 105]
	  MATLABFcn		  "interp1(t,qd,u)"
	  OutputDimensions	  "n"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn2"
	  Ports			  [1, 1]
	  Position		  [110, 125, 170, 155]
	  MATLABFcn		  "interp1(t,qdd,u)"
	  OutputDimensions	  "n"
	}
	Block {
	  BlockType		  Outport
	  Name			  "q"
	  Position		  [220, 33, 250, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qd"
	  Position		  [220, 83, 250, 97]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Outport
	  Name			  "qdd"
	  Position		  [220, 133, 250, 147]
	  Port			  "3"
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "q"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MATLAB Fcn1"
	  SrcPort		  1
	  DstBlock		  "qd"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Clock"
	  SrcPort		  1
	  Points		  [30, 0]
	  Branch {
	    DstBlock		    "MATLAB Fcn"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, 50]
	    Branch {
	      DstBlock		      "MATLAB Fcn1"
	      DstPort		      1
	    }
	    Branch {
	      Points		      [0, 50]
	      DstBlock		      "MATLAB Fcn2"
	      DstPort		      1
	    }
	  }
	}
	Line {
	  SrcBlock		  "MATLAB Fcn2"
	  SrcPort		  1
	  DstBlock		  "qdd"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "plot"
      Ports		      [1]
      Position		      [190, 82, 270, 138]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Graphical robot display."
      MaskHelp		      "This block graphically displays the named robot"
      MaskPromptString	      "Name of robot"
      MaskStyleString	      "edit"
      MaskTunableValueString  "off"
      MaskCallbackString      "\n"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskInitialization      "plot(robot,zeros(1,robot.n));\nrname = robot.name;\nfprintf('**robot name is %s\\n', rname);"
      MaskDisplay	      "text(0.5, 0.5,  rname, 'horizontalAlignment', 'center')"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
      System {
	Name			"plot"
	Location		[114, 396, 379, 478]
	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			  "q"
	  Position		  [25, 33, 55, 47]
	  IconDisplay		  "Port number"
	  OutDataType		  "sfix(16)"
	  OutScaling		  "2^0"
	}
	Block {
	  BlockType		  "S-Function"
	  Name			  "S-Function"
	  Ports			  [1]
	  Position		  [120, 25, 180, 55]
	  FunctionName		  "slplotbot"
	  Parameters		  "robot"
	  EnableBusSupport	  off
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "S-Function"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "rne"
      Ports		      [3, 1]
      Position		      [35, 197, 130, 263]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Rigid-body inverse dynamics."
      MaskHelp		      "Given a robot dynamic model and joint angle, rate and acceleration determine the required joint torque.  Useful for computed and inverse torque control schemes."
      MaskPromptString	      "Robot object|Gravity"
      MaskStyleString	      "edit,edit"
      MaskTunableValueString  "on,on"
      MaskCallbackString      "|"
      MaskEnableString	      "on,on"
      MaskVisibilityString    "on,on"
      MaskToolTipString	      "on,on"
      MaskVarAliasString      ","
      MaskVariables	      "robot=@1;grav=@2;"
      MaskInitialization      "n=robot.n;"
      MaskDisplay	      "port_label('output', 1, 'tau')\nport_label('input', 1, 'q')\nport_label('input', 2, 'qd')\nport_label('input', 3, 'qdd')\ntext(0.9, 0.9,  robot.name, 'horizontalAlignment', 'right')\n"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot|[0 0 9.81]"
      MaskTabNameString	      ","
      System {
	Name			"rne"
	Location		[240, 487, 732, 638]
	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			  "q"
	  Position		  [20, 33, 50, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qd"
	  Position		  [20, 73, 50, 87]