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Relative Rotation

Measures the relative rotational motion between two frames

 

Description

Connections

Parameters

See Also

Description

A relative rotation sensor measures the rotation matrix, angular velocity, and angular acceleration of frame_b with respect to frame_a.  The sensor generates three vector outputs (a length 9 vector (column-major order) and two 3-vectors) containing these measurements, expressed in the frame specified by the Resolved Frame parameter. (Applies to the angular velocity and acceleration only. This parameter is ignored for the rotation matrix output.)

Connections

Name

Description

framea

Sensor frame

frameb

Sensor frame

RMOutputR

Real signal of dimension 9 (column-major order) that represents the rotation matrix between the two frames.

RMOutputW

Real signal of dimension 3 that specifies the angular velocity of frame_b with respect to frame_a.  The measured quantity is expressed in the frame specified by the parameter Resolved Frame.

RMOutputAA

Real signal of dimension 3 that specifies the angular acceleration frame_b with respect to frame_a.  The measured quantity is expressed in the frame specified by the parameter Resolved Frame.

Parameters

Symbol

Default

Units

Description

Modelica ID

Resolved Frame

Inertial

-

Frame in which the output signals are expressed.

Frame

See Also

Multibody Sensors

Multibody Overview