I am going through a paper, Kinematic Modelling and Simulation of a 2-R Robot Using SolidWorks and Verification by MATLAB/Simulink, which is about a 2-link revolute joint robotic arm. According to the paper, the trajectory analysis of the robot was done via simulations in MATLAB/Simulink.
It shows the following picture, Trajectory generation of 2‐R robot with MATLAB/Simulink:
and then, Simulink - Simulation block to calculate the trajectory:
I think this is done in SimMechanics, but I am not sure. Experienced users, can you please tell me what am I looking at and how can I reproduce this?