MATLAB: How to use matlab ‘spline’ function in simulink

MATLAB and Simulink Student Suitespline in simulink

Hi, I was trying to generate robot trajectory using spline function in simulink, I tried with all user function block available in simulink library but it is getting error the image is shown below. Can anybody help for this issue.

Best Answer

Hi,

the error message tells you what to do, namely "declare" spline as being used not by code generation but by MATLAB:

doc coder.extrinsic

Titus

Related Solutions

MATLAB: I want to find the determinant for 5.5 matrix

>> syms s1 s2 s3 s4 s5 s6 s7 s8 s9 s10
>> M = [0 -s1 -s2 -s3 -s4; s1 0 -s5 -s6 -s4; s2 s5 0 -s8 -s9; s3 s6 s8 0 -s10; s4 s7 s9 s10 0];
>> det(M)
ans =
s1*s4^2*s8^2 - s1*s4*s7*s8^2 - s2*s4^2*s6*s8 + s3*s4^2*s5*s8 - s3^2*s4*s5*s9 - s2^2*s4*s6*s10 + s3^2*s5*s7*s9 + s2^2*s6*s7*s10 + s2*s3*s4*s5*s10 + s2*s3*s4*s6*s9 + s1*s2*s4*s8*s10 - s1*s3*s4*s8*s9 - s2*s3*s5*s7*s10 - s2*s3*s6*s7*s9 + s2*s4*s6*s7*s8 - s3*s4*s5*s7*s8 - s1*s2*s7*s8*s10 + s1*s3*s7*s8*s9
>> simplify(ans)
ans =
(s4 - s7)*(s3*s5 - s2*s6 + s1*s8)*(s2*s10 - s3*s9 + s4*s8)

MATLAB: Vectorization of Operation inside Matrix

First, permute DH so that the rows are in the 3rd dimension as in your output. Then you can vectorise your calculation:

DH = permute(psm_m.DH, [3 2 1]);
n = size(DH, 3);
T_i_All = [cos(DH(1, 5, :)), -sin(DH(1, 5, :)), repmat(0, 1, 1, n), DH(1, 3, :);
           sin(DH(1, 5, :)).*cos(DH(1, 2, :)), cos(DH(1, 5, :)).*cos(DH(1, 2, :)), -sin(DH(1, 2, :)), -sin(DH(1, 2, :)).*DH(1, 4, :);
           sin(DH(1, 5, :)).*sin(DH(1, 2, :)), cos(DH(1, 5, :)).*sin(DH(1, 2, :)), cos(DH(1, 2, :)), cos(DH(1, 2, :)).*DH(1, 4, :);
           repmat([0 0 0 1], 1, 1, n)]

Best Answer

Related Solutions

MATLAB: I want to find the determinant for 5.5 matrix

MATLAB: Vectorization of Operation inside Matrix

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