Dynamics of robot in Simulink using Robotics Toolbox

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Mohsina Zafar
Mohsina Zafar 2019-7-11
编辑： Mohsina Zafar 2019-7-11
I am trying to convert robot torque to acceleration, velocity and position (robot dynamics). I was doing it manually but the dynamics I computed were incorrect as the graphs had undesired oscillation. I am trying to use a toolbox to compute those dynamics now.
I want to convert the 'dynamics' Simulink block of robot to use a function from Robotics Toolbox to compute robot dynamics. The function is 'fdyn' but I am unable to understand how to use it in Simulink.
Attached is my Simulink model and .mat file having motor parameters.

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