User`s guide

Virtual Reality World and Dynamic System Examples
1-25
• Simple collision detection
• Simulation of haptic effects
The VR Source block supports using global coordinates for objects in a virtual world. For
each Transform in the scene, the tree view in the VR Source block parameter dialog box
displays the Extensions branch. In that branch, you can select translation_abs and
rotation_abs fields. Fields with the _abs suffix contain the object's global coordinates.
The fields without the _abs suffix input their data into Simulink model object's local
coordinates (relative to their parent objects in model hierarchy).
The VRML model represents a nuclear hot chamber manipulator. The manipulator
moves the load from one gray cylindrical platform to another. The trajectory for
the manipulator end-effector is predefined using the Signal Builder. Each part of
manipulator arm is independently actuated using decomposed trajectory components,
with the help of VR Expander blocks (see the VR Transformations subsystem).
The VR Source block in the VRML tree on the left captures global coordinates of all
objects important for load manipulation:
• Manipulator grip reference point (center of the clamp)
• Destination reference point
• Initial position of the load
The manipulator grip position results from complex movement of manipulator arm
parts that form hierarchical structure. Generally it is very difficult to compute global
coordinates for such objects affected by hierarchical relations in the scene. However,
Simulink 3D Animation provides an easy way to read the global coordinates of objects
affected by hierarchical relations into a Simulink model.
Based on having the global coordinates of all of the important objects, you can implement
a simple manipulator control logic.
Rotating Membrane Example (vrmemb1)
The vrmemb1 example is similar to the vrmemb example, but in the vrmemb1 example
the associated virtual world is driven from a Simulink model.
Geometry Morphing Example (vrmorph)
The vrmorph example illustrates how you can transfer matrix-type or variable-size
signal data between the Simulink interface and a virtual reality world. With this