Coulomb friction in simmechanics gen 2

Hi I'm trying to add a coloumb friction model on a autogenerated simmechanics gen 2 model. The friction should be applyed on two different revolute joints and in order to calculate the effect of the friction I need the resulting torque on the follower body, i.e. the first boom. This is to limit the friction torque at resulting torques and zero velocity. Is there any way to find the resulting torque on the following body? I'm fairly new to simmechanics and I've only used gen 2. I found a block called joint stiction actuator that appeared to automatically generate this sort of friction in gen 1 but I can't find an equivalent block for gen 2. Does anyone know anything about this? Thanks in advance!

Answer 1

[Sebastian Castro]

Would it be sufficient to take advantage of the Simscape friction blocks as shown in this Answer?

http://www.mathworks.com/matlabcentral/answers/232297-rotational-joint-friction-issue

- Sebastian