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
Chang ChiaCheng 2022-3-28
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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回答（1 个）

Raj
Raj 2024-3-27
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
  1. Force and Torque Sensing- https://www.mathworks.com/help/sm/ug/force-and-torque-sensing.html
  2. Simscape Multibody Contact Forces Library-https://www.mathworks.com/matlabcentral/fileexchange/47417-simscape-multibody-contact-forces-library
  3. 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!

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