I am trying to convert robot torque to acceleration, velocity and position (robot dynamics). I was doing it manually but the dynamics I computed were incorrect as the graphs had undesired oscillation. I am trying to use a toolbox to compute those dynamics now.
I want to convert the 'dynamics' Simulink block of robot to use a function from Robotics Toolbox to compute robot dynamics. The function is 'fdyn' but I am unable to understand how to use it in Simulink.
Attached is my Simulink model and .mat file having motor parameters.