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/Sphere_to_Cone_Contact.m
%% Sphere to Cone Contact Force (3D) % % This block implements a contact force between a sphere and a cone. The % force is active outside and inside the cone. % % This is part of the <matlab:web('Contact_Forces_Demo_Script.html'); Simscape Multibody Contact Forces Library> % % Copyright 2014-2017 The MathWorks, Inc. %% % % <<Sphere_to_Cone_Help_IMAGE.png>> %% % % % Frame connected to ConB port: % % # Located at widest end of the cone % # Z-axis is aligned with the cone axis % # Active range: counter-clockwise from -x axis of ConB % % Frame connected to SphF port: % % # Located at center of sphere % # Orientation does not matter % % Output signal is a bus with intermediate calculations and total force. % %