Simscape Multibody- How to find location of point of contact between two objects?

I am working on a 2R robot manipulator. I want to find the position of the point of contact made by the 2R robot manipulator with the object. Can anyone help me to find out?

Answer 1

[Alex]

Hi Vishal,

if you just want to know, when on of your robot parts touches an object. You can use the Spatial Contact Force Block. It gives you the possibility of recognizing the contact between two bodies. With the contact signal you can identify the angle positions of your revolute joints in the moment of contact.

I hope that was what you searched for.

[Vishal Naik]

Thank you for your reply. Actually, I want know the position of point of contact.

[Alex]

Oh did you meant the point on the robot that were touched?

[Vishal Naik]

Yes. I want know the position in the form of cartesian coordinates.

[Alex]

Then I propose to use the Function of the Spatial Contact Force Block to sense the contact Frame. You should be able to get the position of the contact frame. Then you just have to calculate the position out of the contact frame translation and the position of your robot part or the object. I propose to use the documentary of this block.

[Vishal Naik]

Thank you. I will look it and reply you.

[Vishal Naik]

Yes, It works. Thank you

[Alex]

You're welcome.

I've reposted the real answer. Would you accept it?

Answer 2

[Alex]

Then I propose to use the Function of the Spatial Contact Force Block to sense the contact Frame. You should be able to get the position of the contact frame. Then you just have to calculate the position out of the contact frame translation and the position of your robot part or the object. I propose to use the documentary of this block.

[Vishal Naik]

I will look at it. Thank you