Using coder.extrinsic in simulink has reduce the speed of simulation time

Hello everyone，I am doing robot inverse kinematic simulation and i use the coder.extrinsic to include the ik function .

The inverse kinematics can work fine ，but the simulation speed have extrimly slowed down.

Can someone tell me why? Is there any way to solve the slowdown in simulation speed?

I have tried to modify the simulation step size, but it didn't work.

Thanks for any reply,

Best regards,

-Jian

Answer 1

[Karsh Tharyani]

Hi @snow John,

You can use the Inverse Kinematics block (see Documentation here: https://www.mathworks.com/help/robotics/ref/inversekinematics.html) which supports Code Generation and should likely speed up your simulation.

If you have additional requirements for your use-case please feel free reach out to Technical Support https://www.mathworks.com/support/contact_us.html.

Best,

Karsh