robotics simulink simscape tools

is there any block in simulink that can be used to estimate end effector pose of given robotic model?

for a example:

here is my question insted of using forward kinamatics equation, is there any block that can used for estimation of end effector pose?

expecting your quick respose

thank you,

janitha

[Rena Berman]

(Answers Dev) Restored edit

Answer 1

[Cam Salzberger]

Hello Janitha,

I have limited experience with this, but I believe you should be able to use importrobot to get a RigidBodyTree from the Simscape model. Then you can use getTransform (either the method or the Simulink block) to get the end-effortor position given joint positions.

Hope this gets you started!

-Cam