Spatial Contact Force is not sensing normal force, even two bodies are in contact?

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Vishal Naik 2023-11-13

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https://ww2.mathworks.cn/matlabcentral/answers/2046440-spatial-contact-force-is-not-sensing-normal-force-even-two-bodies-are-in-contact

评论： Vishal Naik 2023-11-15

Here, I have made contact between the end effector of the 2R robot manipulator and the object, where the ground is inclined. Here, the object is not movable. I have used the spatial contact force to sense the normal force exerted by the object. But it is showing zero normal force, Why?

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Alex 2023-11-14

Could you post, what you did wrong as an answer and accept it, so others could learn of your mistakes?

Vishal Naik 2023-11-15

I am working on hybrid motion/Force control system. Here, I made mistake in wrting code. The desired contact force comming from controller is zero, so 'Spatial Contact Force' block showing zero normal force.

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