Create an architecture model of a robot arm using System Composer™. Define interfaces on ports and link requirements on components. A Simulink® Requirements™ license is required to manage requirements. When you complete the steps, you will have created a completed model.
Open the architecture model of a robot arm that consists of sensors, motion actuators, and a planning algorithm. You can use System Composer to view the interfaces and manage the requirements for this model.
Implementing an architectural design starts with visually representing the system using components and their connections. Create an architecture model, represent the system components, and draw the connections between them.
In the MATLAB® Command Window, type:
The Simulink Start Page opens to System Composer.
Click Architecture Model.
A new, blank architecture model canvas opens. You can identify an architecture model by the badge in the lower left corner and the component palette on the left side.
Double-click the architecture model header and change
Robot. The name of the model generally reflects the system whose
architecture you are building.
Save the model.
Design a mobile robotic arm where a sensor senses position and trajectory planning
computes a path to a location that the robot needs to reach using motion. An architecture
model of such a system could consist of three primary components:
Trajectory Planning, and
Motion. You can represent these components in System Composer using three Component blocks.
Click and drag a Component from the left-side palette.
Rename the component as
Trajectory Planning and
You can begin to create connectivity between components by describing the flow of power, energy, data, or any other representative information. Create ports on the components that provide or consume information and connectors that bind two component ports to represent the flow of the information.
You can add a port to a component on any side, and the port can have either an input
or output direction. To create a port, pause your cursor over a component side. Click and
release to view port options. Select either
Physical to create a port. Rename the
port using a name that represents the information that flows through that port.
Create an output port on the bottom side of the Sensors component. Rename it
Click and drag a line from the
SensorData output port to the
Motion component. When you see an input port created at the
component side, release the mouse button. By default, this new port has the same name
as the source port.
Pause on the corner of the
SensorData line until you see the
branch icon . Right-click and drag a branch line to the
Trajectory Planning component.
Complete the connections as shown in this figure.
The root level of the architecture model can also have ports that describe the interaction of the system with its environment. In this example, the target position for the robot is provided by a computer external to the robot itself. Represent this relationship with an input port.
Click the left edge of the architecture model and enter the port name
Connect an architecture port to a component by dragging a line from the
TargetPosition input port to the
Planning component. Connections to or from an architecture port appear as
You can define a data interface to fully specify a connection and its associated ports. A data interface can consist of multiple data elements with various dimensions, units, and data types. To check for consistency when connecting a port, you can also associate interfaces with unconnected ports during component design.
Specify the information flow through a port between components by configuring the data interface with attributes. A data interface can be as simple as sending an integer value, but it can also be a set of numbers, an enumeration, a combination of numbers and strings, or a bundle of other predefined interfaces.
Consider the data interface between the
Sensors and the
Motion components. The sensor data consists of:
Position data from two motors
Obstacle proximity data from two sensors
A time stamp to capture the freshness of the data
The data has these specifications.
|position1 for motor 1||double||degrees|
|position2 for motor 2||double||degrees|
|distance1 for sensor 1||double||meters|
|direction1 for sensor 1||double||degrees|
|distance2 for sensor 2||double||meters|
|direction2 sensor 2||double||degrees|
Navigate to Modeling > Design > Interface Editor to open the Interface Editor.
Click the button to add a data interface. Name the interface
The data interface is named and defined separately from a component port and then assigned to a port.
SensorData output port on the
Sensors component. In the Interface Editor, right-click
sensordata and select Assign to Selected
If you click
sensordata again, the three
SensorData ports are highlighted, indicating the ports are
associated with that interface.
Add a data element to the selected data interface. Click the button to add a data element and name it
Continue adding data elements to the data interface as specified by clicking the add data element button.
Edit the properties of a data element in the Interface Editor. Click on the cell corresponding to the data element in the table and add units as shown in the specification.
Click the drop-down next to the button to save the data interface to a data dictionary.
A data dictionary allows you to collectively manage and share a set of interfaces among
models. For instance, later in the design, if you choose to model the external computer
as a separate architecture model, then this model and the
can share the same data dictionary. Here, the dictionary is saved as
Each component can have its own architecture. Double-click a component to decompose it into its subcomponents.
Trajectory Planning component. The title or
Model Browser indicates the position of the component in the
This component first uses the motor position data that is part of the
sensordata interface to compute the ideal position and velocity
command. It then processes the obstacle distance information in the same interface to
condition this motion command according to some safety rules.
Motion Control and
Safety Rules components
as part of the
Trajectory Planning architecture.
TargetPosition port to the
Control component. Add a
Command output port to
Motion Control, then drag a line to the
Rules component. Drag lines from the
SensorData port to
Motion Control and
Requirements are integral to the systems engineering process. Some requirements relate to the functionality of the overall system, and some relate to aspects of performance such as power, size, and weight. Decomposing high-level requirements into low-level requirements and deriving additional requirements is crucial to defining the architecture of the overall system. For instance, the overall power consumption of the robot determines the requirement for the power consumption of the robot controller.
To allocate and trace requirements with system elements, System Composer fully integrates with Simulink
Requirements. To derive appropriate requirements, you must sometimes analyze and specify
properties (such as power) for elements of the system including components, ports, or
connectors. For example, if the total cost of the system is a concern, a
unitPrice property is necessary.
Manage requirements from the Requirements perspective in System Composer using Simulink Requirements. Navigate to Apps > Requirements Manager.
To enhance the traceability of requirements, link requirements to architectural components and ports. When you click a component in the Requirements perspective, linked requirements are highlighted. Conversely, when you click a requirement, the linked components are shown. To directly create a link, drag a requirement onto a component or a port.