Presuming that you are also using some blocks from SimScape toolbox in the Simulink environment, here are some points to consider:
! Use a Simulink block called the "Coordinate Transformation" block.
Some generalized outline of the whole model building process:
- Define Coordinate Systems: Define the local and global reference frames. Use blocks "Local Coordinate System" and "Global Coordinate System" blocks of Simscape Foundation library.
- Coordinate Transformation Block: Use the "Coordinate Transformation" block to perform the transformation from the local frame to the global one.
- Use Sensor Blocks ("Transform Sensor" from Simscape Multibody): Force sensors in the local reference frame.
- Connect all blocks ...
- Simulate the built model
- Have fun :)
Don't foget converters: between Simulink and Simscape signals.
