fkine_if
This block computes the forward kinematics for a robot in a certain configuration. Joint coordinates are received as input and a homogeneous transform for the location of the end-effector is returned as output.
This block has one regular input. It represent a set of joint coordinates and therefore the number of its elements must equal the number of robot's constituent links.
This block has one regular output.
You can specify as block parameter the robot model robot for which you want compute forward kinematic.
SerialLink. It represents the robot model to be simulated. Note that this variable is a symbolic parameter which has to be defined in the context of the Xcos diagram in order to be used.