Simscape Multibody- How to find location of point of contact between two objects?
6 views (last 30 days)
Show older comments
I am working on a 2R robot manipulator. I want to find the position of the point of contact made by the 2R robot manipulator with the object. Can anyone help me to find out?
0 Comments
Accepted Answer
Alex
on 9 Nov 2023
Hi Vishal,
if you just want to know, when on of your robot parts touches an object. You can use the Spatial Contact Force Block. It gives you the possibility of recognizing the contact between two bodies. With the contact signal you can identify the angle positions of your revolute joints in the moment of contact.
I hope that was what you searched for.
7 Comments
More Answers (1)
Alex
on 10 Nov 2023
Then I propose to use the Function of the Spatial Contact Force Block to sense the contact Frame. You should be able to get the position of the contact frame. Then you just have to calculate the position out of the contact frame translation and the position of your robot part or the object. I propose to use the documentary of this block.
See Also
Categories
Find more on Simulation and Analysis in Help Center and File Exchange
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!