3D Rigid Body Angular Velocity
Purpose: Returns the 3D angular velocity vector and scalar magnitude of a reference frame between two time points, in degrees or radians per second. Can handle rotation about any one or all three axes simultaneously. All computations are returned in the space-fixed coordinate system. See header comments in code for details.
Assumptions:
The origins of both reference frames are both at the same point on the rigid body.
Within each reference frame, the axes are all orthogonal to one another.
Method:
First, computes the linear difference vector for each of the three axes. Because these three vectors all lie within the plane of rotation, their cross product produces the orientation of the axis of rotation. Then the axes are projected onto the plane of rotation, and their angular displacement times the sampling frequency (Hz) produces the magnitude of the angular velocity. Positive or negative angular velocity (direction of rotation) is evaluated by cross(frame1,frame2). Finally, the angular velocity vector is multiplied by the angular velocity magnitude.
인용 양식
Mitchell Tillman (2024). 3D Rigid Body Angular Velocity (https://github.com/mtillman14/Ref-Frames-Angular-Velocity/releases/tag/v1.1), GitHub. 검색됨 .
MATLAB 릴리스 호환 정보
플랫폼 호환성
Windows macOS Linux태그
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!버전 | 게시됨 | 릴리스 정보 | |
---|---|---|---|
1.1 | See release notes for this release on GitHub: https://github.com/mtillman14/Ref-Frames-Angular-Velocity/releases/tag/v1.1 |
||
1.0 |