Implementing Angles as an input in Simulink

Hi everyone,

I am struggling in adding theta 1 and theta 2 into my simulink model. I have attached the model so far and the parameters of the angles.

Anyone know how i can pass two angles into the robot controller block?

Thank you.

Answer 1

[Jim Riggs]

It appears (based on the icon on the block) that the block labeled "Robot Controler" is a Matlab function block. In order to add additional inputs to a Matlab function block, simply add the additional signals to the argument list of the function inside the block. Once you save the change, they will then appear as block inputs.

[Saad Khan]

Thank you for the answer but that's not quite what i'm after.

I need to pass the desired joint angles through the mux icon but i'm struggling how to model the joint angles in simulink.

From the screenshot of the question showing theta 1 and theta 2 and time, how can i add them into the simulink model.

Thank you.