Robot contact force calculate

Dependent library

1. Qt 5.12.12

2. Open CASCADE Technology 7.4.0

   • cmake with not using VTk

3. PCL 1.12.1

   • VTK 9.1 recmake with QT options

     windows debug boost

     VTK 9.1 add QT lib

4. hpp-fcl

5. aris

6. sire

Platform

Visual studio：install VS QT tools

Usage

• Import the robot to realize the movement according to the predetermined trajectory
• detect the collision at the same time
• calculate the contact force

demo

• ball_rebound when restitution coefficient = 0.8

ball_rebound_0.8.mp4

• ball_rebound when restitution coefficient = 1

ball_rebound_1.mp4

• without collision detection

no_collision_detection.mp4

• collision detection

collision_detection.mp4

• CAM

CAM5.mp4

• CAD :OCCTSketcher

CAD.mp4

• Polish

Polish1.mp4