Implementing a force/torque sensor in the second generation of SimMechanics

I am trying to implement a force/torque sensor in the second generation of SimMechanics (2012b). For this I am currently using a 6-DOF Joint with a Spring Stiffness of 300000 N/m in all internal mechancis and sense the positions to recreate the forces and torques.

But this method slows down the simulation quite a bit. In the first generation of SimMechanics, there was the possbility to use the Joint Sensor to get the reaction forces.

Question: Is there a better way to implement a force/torque sensor in the second generation of SimMechanics?

Best regards,

Jens

[jone]

Hi, This is very similar to my problem I want to measure contact force between two bodies last thing I tried to model force/torque using simmechanics like you did but I have some problems doing that If you can help me that would be great

thanks a lot

Answer 1

[pietro]

Hi,

I have a similar problem. Did you get the relative displacement between the two frames which the joint is connected? If yes, how did you do that?

Cheers

Pietro

[jone]

Hi, This is very similar to my problem I want to measure contact force between two bodies last thing I tried to model force/torque using simmechanics like you did but I have some problems doing that If you can help me that would be great

thanks a lot

Answer 2

[Hongda Shi]

Can you help me how to measure contact force