how can i generate a rectangular trajectory for sliding mode control of robot manipulator

i found an sliding mode controller simulink design of PUMA 560 robot at https://www.mathworks.com/matlabcentral/fileexchange/22077-nonlinear-control-of-3-dof-puma-robot and implemented succesfully but i want to change the reference trajectory to rectangle. how can i model a rectangle trajectory?

Answer 1

[MathWorks Robotics and Autonomous Systems Team]

For MATLAB Central post, please ask the question directly in the submission page:

https://www.mathworks.com/matlabcentral/fileexchange/22077-nonlinear-control-of-3-dof-puma-robot