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can you help me draw a model for this in simulink? The Problem A mobile robot ( equipped with wheels ) is pushing a shopping

can you help me draw a model for this in simulink? The Problem
A mobile robot (equipped with wheels) is pushing a shopping trolley in order to arrive to the
house of its human the owner. The robot travels along in one dimension x and pushes the trolley
towards the same dimension.
The robot applies a force FR to the shopping trolley to make it to move ahead. It is assumed
that due to the mechanics of the robot and the trolley, the connection of the hand of the robot
and the trolley acts as a spring with stiffness z. The mass of the robot is mR and the mass of
the shopping trolley is mtr. The rolling friction coefficient is .
The application of the second law of Newton derives the following equations for the dynamic
system, describing the motion of the robot pushing the shopping trolley:
FR-z(xR-xtr)=mR*xR+*mR*g*xR
z*(xR-xtr)=mtr*xtr+*mtr*g*xtr
where - denotes multiplication. xR is the displacement of the robot and xtr is the displacement
of the shopping trolley. g=9.81ms2 is the gravity. For the purposes of the simulation of the
system here, use FR=2,=0.05,z=1,mR=2,mtr=1.
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