How can I sense the 6 DOF force and torque between A rigid and B rigid in simscape? (A rigid and B rigid are rigidly connected)

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Chang ChiaCheng 2022-3-28

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https://ww2.mathworks.cn/matlabcentral/answers/1682279-how-can-i-sense-the-6-dof-force-and-torque-between-a-rigid-and-b-rigid-in-simscape-a-rigid-and-b-r

回答： Raj 2024-3-27

Hi, there! I'm doing a research on UAV cooperative transportation system. (two quadrotors and one payload, rigidly connected)

Due to the research, I want to measure the action force and reaction force between the payload and each quadrotor in Simscape.

I'm a newbie to Simscape, so I would be gratitude if you can offer some reference or tutorials. Thanks

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Answer 1

Raj 2024-3-27

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https://ww2.mathworks.cn/matlabcentral/answers/1682279-how-can-i-sense-the-6-dof-force-and-torque-between-a-rigid-and-b-rigid-in-simscape-a-rigid-and-b-r#answer_1431861

Hi @Chang ChiaCheng

I understand you want to measure the action and reaction force between the payload and quadrotor. Below are the links you could refer to for a headstart

Force and Torque Sensing- https://www.mathworks.com/help/sm/ug/force-and-torque-sensing.html
Simscape Multibody Contact Forces Library-https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library
Quadcopter Drone Model- https://www.mathworks.com/matlabcentral/fileexchange/63580-quadcopter-drone-model-in-simscape

Also, I personally found Simscape Onramp helpful to get started with Simscape. You can also refer to it for a better understanding on how Simscape works.

https://www.mathworks.com/help/simscape/ref/simscapeonramp.html

I hope this helps and you are able to proceed further in your research!