10
2
Using the Toolbox with Simulink
2
Introduction
Simulink is the block diagram editing and simulation environment for Matlab. Until its
most recent release Simulink has not been able to handle matrix valued signals, and that has
made its application to robotics somewhat clumsy. This shortcoming has been rectified with
Simulink Release 4. Robot Toolbox Release 7 and higher includes a library of blocks for
use in constructing robot kinematic and dynamic models.
To use this new feature it is neccessary to include the Toolbox Simulink block directory in
your Matlab path:
>> addpath ROBOTDIR/simulink
To bring up the block library
>> roblocks
which will create a display like that shown in Figure 2.
Users with no previous Simulink experience are advised to read the relevant Mathworks
manuals and experiment with the examples supplied. Experienced Simulink users should
find the use of the Robotics blocks quite straightforward. Generally there is a one-to-one
correspondence between Simulink blocks and Toolbox functions. Several demonstrations
have been included with the Toolbox in order to illustrate common topics in robot control
and demonstrate Toolbox Simulink usage. These could be considered as starting points for
your own work, just select the model closest to what you want and start changing it. Details
of the blocks can be found using the File/ShowBrowser option on the block library window.
Robotics Toolbox for Matlab (release 7)
TODO
Copyright (c) 2002 Peter Corke
Dynamics
Graphics
Kinematics
Transform conversion
Trajectory
x
y
z
T
xyz2T
T1
T2
dx
tr2diff
roll
pitch
yaw
T
rpy2T
tau
q
qd
qdd
noname
rne
noname
plot
q
qd
qdd
jtraj
J
n
noname
q
J
jacobn
J
0
noname
q
J
jacob0
J
-1
J
Ji
ijacob
q
T
noname
fkine
a
b
c
T
eul2T
T
x
y
z
T2xyz
T
roll
pitch
yaw
T2rpy
T
a
b
c
T2eul
tau
q
qd
qdd
noname
Robot
Figure 2: The Robotics Toolbox blockset.
Summary :
Robotics Toolbox for Matlab (release 7) TODO Copyright (c) 2002 Peter Corke Dynamics Graphics Kinematics Transform conversion Trajectory x y z T xyz2T T1 T2 dx tr2diff roll pitch yaw T rpy2T tau q qd qdd noname rne noname plot q qd qdd jtraj J n noname q J jacobn J 0 noname q J jacob0 J -1 J Ji ijacob q T noname fkine a b c T eul2T T x y z T2xyz T roll pitch yaw T2rpy T a b c T2eul tau q qd qdd noname Robot Figure 2: The Robotics Toolbox blockset.
Tags :
simulink,toolbox,noname,block,robot,blocks,robotics,release,been,qdd,use,matlab,library