How do I carry out this trajectory through this data?

I need to do this route, I have one that runs in a circle but I have no idea of ​​doing it for a square like the one in the image.

In addition, I must do it with these data.

My simulink model for the circle is the following.

I am attaching my two files to generate the model.

Answer 1

[Steve Miller]

You can use the Repeating Sequence block to define the sequence for the square. I have attached the model to this answer.

Below you can see the animation for the IK solution for the circular path and the square path

Circular path

Square path (green circle shown as a visual reference)