Apply and sense force, torque, and motion

Model and sense forces, torques, and motion variables. You can model joint actuation inputs and internal mechanics, external loads, interactions between bodies, and gravity. You can sense position, velocity, and acceleration as well as various types of forces and torques.

For an overview of the dynamical variables that you can model and sense, see Modeling and Sensing System Dynamics. For an example showing how to actuate a joint, see Actuate Joint in Four-Bar Model. For an example showing how to sense trajectory coordinates, see Sense Motion in Double-Pendulum Model.

Simscape Blocks

Forces, Torques, and Fields

External Force and Torque General force and torque arising outside the modeled system
Gravitational Field Field of force due to point mass
Internal Force General force acting reciprocally between two frame origins
Inverse Square Law Force Force proportional to the inverse square distance between two frame origins
Spring and Damper Force Force proportional to the distance and relative velocity between two frame origins


Transform Sensor Sensor that measures the spatial relationship between two frames


Mechanism Configuration Mechanism-wide simulation and mechanical parameters
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