# How to calculate motor torque from force vector.

## Position of actuator (DC servo motor)

There are two step to get any reaction force. First, calculate the forces which apples each end effector of
the unit from reaction force. Second, calculate the motor torque of each motor from the forces.

## For the first step, we can consider the forces are separated to force vector and torque vector.

For the second step, we only multiply the matrix to force vector of each vertex.
The force which is generate by Motor 1 is as

The force which is generate by Motor 2 is as

The force which is generate by Motor 0 is as

Torque to force transform matrix is as

Force to torque transform matrix is as

If you want to get C-language source of this program, please contact me.
HapticMaster home.

home.

Haptic Master calc torque Guide H.Yano / yano@kz.tsukuba.ac.jp