Where can I find spatial contact force Simscape function? Or library.
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Vasco Lenzi on 7 Oct 2020
The official shipping spatial contact forces library comes with Simscape Multibody from 2019b onward. For release prior to 19b you need to download the Contact Forces library from File Exchange.
You can do it directly from the Add-On button on the MATLAB Main Toolstrip.
In my opinion, if possible I would try to upgrade to a more modern release such as 20a or 20b. The shipping contact force is slightly easier to use than the file exchange entry.