roblocks.mdl

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

	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "qdd"
	  Position		  [15, 113, 45, 127]
	  Port			  "3"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [115, 66, 290, 94]
	  MATLABFcn		  "rne(robot, u(1:n)', u(n+1:2*n)', u(2*n+1:3*n)')"
	  OutputDimensions	  "n"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [85, 21, 90, 139]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "tau"
	  Position		  [370, 73, 400, 87]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "q"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "qd"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "qdd"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "tau"
	  DstPort		  1
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "rpy2T"
      Ports		      [3, 1]
      Position		      [630, 148, 680, 202]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Convert roll/pitch/yaw angles to transform."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"rpy2T"
	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			  "roll"
	  Position		  [25, 33, 55, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "pitch"
	  Position		  [25, 68, 55, 82]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "yaw"
	  Position		  [25, 103, 55, 117]
	  Port			  "3"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [120, 60, 180, 90]
	  MATLABFcn		  "rpy2tr(u)"
	  OutputDimensions	  "[4 4]"
	  Output1D		  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [85, 20, 90, 130]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "T"
	  Position		  [225, 68, 255, 82]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "yaw"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "T"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "roll"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "pitch"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "tr2diff"
      Ports		      [2, 1]
      Position		      [530, 262, 580, 318]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Robot forward kinematics."
      MaskHelp		      "Compute homogeneous transform for robot end-effector given joint angles."
      MaskPromptString	      "Robot object"
      MaskStyleString	      "edit"
      MaskTunableValueString  "on"
      MaskEnableString	      "on"
      MaskVisibilityString    "on"
      MaskToolTipString	      "on"
      MaskVariables	      "robot=@1;"
      MaskDisplay	      "port_label('input', 1, 'T1')\nport_label('input', 2, 'T2')\nport_label('output', 1, 'dx')\n\n"
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      MaskValueString	      "robot"
      System {
	Name			"tr2diff"
	Location		[198, 462, 562, 611]
	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			  "T1"
	  Position		  [45, 38, 75, 52]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "T2"
	  Position		  [45, 93, 75, 107]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [215, 40, 275, 70]
	  MATLABFcn		  "tr2diff(reshape(u(1:16),4,4), reshape(u(17:32),4,4))"
	  OutputDimensions	  "6"
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [2, 1]
	  Position		  [185, 36, 190, 74]
	  ShowName		  off
	  Inputs		  "2"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Reshape"
	  Ports			  [1, 1]
	  Position		  [115, 33, 145, 57]
	  SourceBlock		  "simulink3/Signals\n& Systems/Reshape"
	  SourceType		  "Reshape"
	  OutputDimensionality	  "1-D array"
	  OutputDimensions	  "[1,1]"
	}
	Block {
	  BlockType		  Reference
	  Name			  "Reshape1"
	  Ports			  [1, 1]
	  Position		  [125, 88, 155, 112]
	  SourceBlock		  "simulink3/Signals\n& Systems/Reshape"
	  SourceType		  "Reshape"
	  OutputDimensionality	  "1-D array"
	  OutputDimensions	  "[1,1]"
	}
	Block {
	  BlockType		  Outport
	  Name			  "dx"
	  Position		  [300, 48, 330, 62]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "dx"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "T1"
	  SrcPort		  1
	  DstBlock		  "Reshape"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "T2"
	  SrcPort		  1
	  DstBlock		  "Reshape1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Reshape"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Reshape1"
	  SrcPort		  1
	  Points		  [10, 0]
	  DstBlock		  "Mux"
	  DstPort		  2
	}
      }
    }
    Block {
      BlockType		      SubSystem
      Name		      "xyz2T"
      Ports		      [3, 1]
      Position		      [625, 78, 675, 132]
      BackgroundColor	      "red"
      MinAlgLoopOccurrences   off
      PropExecContextOutsideSubsystem off
      RTWSystemCode	      "Auto"
      FunctionWithSeparateData off
      Opaque		      off
      RequestExecContextInheritance off
      MaskHideContents	      off
      MaskDescription	      "Convert xyz scalars to transform."
      MaskIconFrame	      on
      MaskIconOpaque	      on
      MaskIconRotate	      "none"
      MaskIconUnits	      "normalized"
      System {
	Name			"xyz2T"
	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			  "x"
	  Position		  [25, 33, 55, 47]
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "y"
	  Position		  [25, 68, 55, 82]
	  Port			  "2"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  Inport
	  Name			  "z"
	  Position		  [25, 103, 55, 117]
	  Port			  "3"
	  IconDisplay		  "Port number"
	}
	Block {
	  BlockType		  MATLABFcn
	  Name			  "MATLAB Fcn"
	  Ports			  [1, 1]
	  Position		  [120, 60, 180, 90]
	  MATLABFcn		  "transl(u)"
	  OutputDimensions	  "[4 4]"
	  Output1D		  off
	}
	Block {
	  BlockType		  Mux
	  Name			  "Mux"
	  Ports			  [3, 1]
	  Position		  [85, 20, 90, 130]
	  ShowName		  off
	  Inputs		  "3"
	  DisplayOption		  "bar"
	}
	Block {
	  BlockType		  Outport
	  Name			  "T"
	  Position		  [225, 68, 255, 82]
	  IconDisplay		  "Port number"
	}
	Line {
	  SrcBlock		  "y"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  2
	}
	Line {
	  SrcBlock		  "x"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Mux"
	  SrcPort		  1
	  DstBlock		  "MATLAB Fcn"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "MATLAB Fcn"
	  SrcPort		  1
	  DstBlock		  "T"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "z"
	  SrcPort		  1
	  DstBlock		  "Mux"
	  DstPort		  3
	}
      }
    }
    Annotation {
      Name		      "Robotics Toolbox for Matlab (release 8)"
      Position		      [268, 24]
      BackgroundColor	      "gray"
      FontName		      "new century schoolbook"
      FontSize		      24
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "Copyright (c) 2002 Peter Corke"
      Position		      [90, 330]
    }
    Annotation {
      Name		      "Dynamics"
      Position		      [67, 57]
      BackgroundColor	      "gray"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "Graphics"
      Position		      [232, 57]
      BackgroundColor	      "gray"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "Kinematics"
      Position		      [497, 57]
      BackgroundColor	      "gray"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "Transform conversion"
      Position		      [697, 57]
      BackgroundColor	      "gray"
      FontSize		      12
      FontWeight	      "bold"
    }
    Annotation {
      Name		      "Trajectory"
      Position		      [342, 57]
      BackgroundColor	      "gray"
      FontSize		      12
      FontWeight	      "bold"
    }
  }
}