I am using Robotics Systems Toolbox in Simulink and performing dynamical simulation. The simulation consists of a free movement and then a contact arised from a peg-in-hole task.
Because of the contact, I need to pass the reaction forces and moments back to the robot (by multiplying with the transpose of the jacobian of the end-effector of the robot in order to convert them to joint torques) to include contact effects on the robot.
Is there a way to get forces and torques in vector format to feed robot for contact dynamics effects?
Thanks in advance.