Angular velocity is a vectorial quantity. Angular velocity of a rotating body B in a global frame G is the instantaneous rotation of the body with respect to G about an axis. Using the analytic description of angular velocity, we introduce the velocity and time derivative of homogenous transformation matrices. The transformation matrix GRB is time dependent if a body coordinate frame B rotates continuously with respect to frame G with a common origin. The time dependent rotation matrix will be used to define the angular velocity. To work with angular velocities of relatively moving links, we need to follow the rules of relative derivatives in body and global coordinate frames. Derivative is a frame-dependent operation. Derivative of a vector quantity in the same frame in which the vector is expressed is a simple derivative. Derivative of a vector quantity in another frame other than the frame in which the vector is expressed is a mixed derivative. Considering two frames, we will have two simple and two mix derivatives.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Angular Velocity


    Beteiligte:
    Jazar, Reza N. (Autor:in)

    Erschienen in:

    Theory of Applied Robotics ; Kapitel : 7 ; 361-413


    Erscheinungsdatum :

    08.12.2021


    Format / Umfang :

    53 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    ANGULAR VELOCITY SENSOR CORRECTION DEVICE AND ANGULAR VELOCITY SENSOR CORRECTING METHOD

    KONDO TAKAHIRO | Europäisches Patentamt | 2017

    Freier Zugriff

    ANGULAR VELOCITY SENSOR DEVICE AND METHOD FOR CORRECTING ANGULAR VELOCITY SENSOR

    INOUE SHINTARO / GOTO HIDEFUMI / KANNO RYOTA | Europäisches Patentamt | 2016

    Freier Zugriff

    DVL angular velocity recorder

    Liebe, Wolfgang | TIBKAT | 1944


    DVL angular velocity recorder

    Liebe, W. | Engineering Index Backfile | 1944


    Measuring Angular Velocity With Accelerometers

    Sonnabend, D. / National Aeronautics and Space Administration | British Library Conference Proceedings | 1997