using MuPAD numeric solver as simulink block

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Mike
Mike 2014 年 11 月 25 日
Hello I have 5 large trigonometric equations with 5 unknows ( rotation angles ), I already solved it using MuPAD with function numeric::solve taking into account range of each angle ( in radians ) which looks like this :
Wynik:=numeric::solve({subs(L1[1,4],x=XXX,y=YYY)=P1[1,4],subs(L1[2,4],z=ZZZ)=P1[2,4],subs(L1[3,4],x=XXX,y=YYY)=P1[3,4],subs(L2[1,4],x=XXX,y=YYY,z=ZZZ)=P2[1,4],subs(L2[2,4],x=XXX,y=YYY,z=ZZZ)=P2[2,4],subs(L2[3,4],x=XXX,y=YYY)=P2[3,4]},
{th[1]=-3.14159265..3.14159265,th[2]=-0.95993109..0.52359878,th[3]=-1.57079633..1.57079633,th[4]=-3.14159265..3.14159265,th[5]=-1.91986218..1.91986218}):
end
Its a solution for reverse kinematics, where position X Y Z is given and returns angles. It returns a proper values, but i need to convert this function somehow to simulink and use it for further calculations as simulink block. Is there a way to do this?
Regards Mike

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