www.gusucode.com > Modeling Pneumatic Robot Actuators 工具箱matlab源码程序 > Modeling Pneumatic Robot Actuators/MSRA_PneumaticRobotSeries/Libraries/ContactLib/Libraries/Help/Circle_to_Finite_Line_Contact.m

    %% Circle to Finite Line Contact Force (2D)
% 
% This block implements a 2D contact force between a circle and a finite
% line.  The force is active above and below the line.
% 
% This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library>
%
% Copyright 2014-2017 The MathWorks, Inc.



%% 
% 
% <<Circle_to_Finite_Line_Help_IMAGE.png>>

%% 
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% Frame connected to LinB port: 
% 
% # Located at midpoint of line. 
% # X-axis is normal to the finite line. 
% # Y-axis is along the finite line.
% 
% Frame connected to the CirF port: 
%
% # Z-axis aligned with frame attached to LinB port.
% 
% Output signal is a bus with intermediate calculations and total force.
%