Can a Joint be a child of a force sensor

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avico23
Posts: 5
Joined: 06 Sep 2017, 12:41

Can a Joint be a child of a force sensor

Post by avico23 » 11 Sep 2017, 23:52

Hello,
I have a wheel joint and I would like to know the contact force between the wheel and the wall/ground.
What is the correct method to do so.
I will like to read this force in matlab.

ssj
Posts: 21
Joined: 27 Feb 2017, 15:40

Re: Can a Joint be a child of a force sensor

Post by ssj » 12 Sep 2017, 05:05

hello
I think you can use the API simGetJointForce for this.

coppelia
Site Admin
Posts: 6183
Joined: 14 Dec 2012, 00:25

Re: Can a Joint be a child of a force sensor

Post by coppelia » 12 Sep 2017, 15:08

Hello,

no, you can't. And simGetJointForce will not return the radial force that applies on a revolute joint. See details here.

For that you should connect your joint to an auxiliary mass (non-respondable), itself connected to a force sensor, itself connected to the body of the vehicle.

Or you can use simGetContactInfo. Have a look at the Models/other/contact display.ttm model for details.

Cheers

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