I have been working with simulation of a robot, with some external loads. Joints in a robot face bearing loads, in axial and radial directions, due to their own weight and external loads. Does Drake provide functionalities to calculate these bearing loads on the joints of a robot? Specifically the radial loads. It may be more of a mechanical question, but it would help to analyze the variation in these loads when performing dynamic analysis.
Thank you for your time.
You may want to take a look at the force/torque sensor here and/or the reaction force/torque calculations available for all joints here.
To measure a force at a specific location and in a specific direction, you may want to add a weld joint. To get axial or radial measures, you can extract whatever direction of the force interests you.