Force-Torque-Sensor für SimMechanics Second Generation

Is a force-torque sensor for SimMechanics Second Generation already available or can you point me to some help resources or tutorials on how to create one?

Thanks, Stephan

Answer 1

[Maximilian]

SimMechanics 2nd gen has sensors built into the joints. For example if you open the parameters for a revolute joint there is a section labeled "Composite Force/Torque Sensing". In there you can have the joint block add an output port that will give you the torque.

Here's the documentation for the revolute joint: http://www.mathworks.com/help/physmod/sm/ref/revolutejoint.html?searchHighlight=revolute