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robotics simulink simscape tools

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is there any block in simulink that can be used to estimate end effector pose of given robotic model?
for a example:
i used simscape model conversion to transfer from solidwork robotic model to simulink
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

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Accepted Answer

Cam Salzberger
Cam Salzberger on 18 Dec 2019
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

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