I am working on a project with a robot arm. We made a pathplot with an array in matlab and then integrated this in the simulink model with a "from workspace" block. The problem is that the robot will see squared signals as needing to have a infinit high speed. Therefore, the signal should be rounded off a bit. So it has to get to the value that we gave in in the array but i has to go in a normal speed. Is there a simple way to get this done? Or at least another way than adding a lot of little steps in between?