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There's a Matlab function block. Follow the example and your inputs and outputs will create source/sink connections on the Simulink block to wire in values. I would only put the controller in there, and don't use the clear all command - if it's not persistent then a variable inside a function ceases to exist between function calls. Every call to the function ...

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Do I understand correctly, that the problem is with the matrix equation you have posted and how to calculate $T_{sb}$ from that equation? You can solve the matrix equation by multiplying from the right with the inverse of the last matrix on the rhs, step by step. $$\require{cancel}$$ $$T_{se} = T_{sb} \times T_{b0} \times T_{0e}$$ T_{se} \times T_{0e}^{-1}...

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In order to transform encoder signals to robot motions a kinematic model of the robot is needed. In some cases this is very simple, just including the gear ratios and a heading angle (e.g. with Ackerman steering model). This is a simple kinematic model. A more complex case is differential steering, where the encoder signals pass through a kinematic ...

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