Why the angular velocities measured by bushing joint and transform sensor are different

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Chong Zhao 2019-8-5

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https://ww2.mathworks.cn/matlabcentral/answers/474908-why-the-angular-velocities-measured-by-bushing-joint-and-transform-sensor-are-different

评论： Chong Zhao 2019-9-16

I built a model of parallel manipulators using simMechanics, but I found that the angular velocities of the moving platform measured by bushing joint and transform sensor are different, so why?

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Devineni Aslesha 2019-8-29

In the given plot, I would like to know which plot corresponds to bushing joint and transform sensor. Also, would like to know how the angular velocity is measured. Is it the magnitude of angular velocity or the angular velocity in a particular direction?

Chong Zhao 2019-9-6

Thank you for your answer. I was measuring the angular velocities in a X/Y/Z direction, as shown in the figure below. But the wx/wy/wz in the transform sensor and wx/wy/wz in the bushing joint were different.

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Answer 1

Harshal Upadhyay 2019-9-13

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https://ww2.mathworks.cn/matlabcentral/answers/474908-why-the-angular-velocities-measured-by-bushing-joint-and-transform-sensor-are-different#answer_391800

Bushing joint seems to be using Euler parametrization(refer to the Joint Transformation Sequence). https://www.mathworks.com/help/physmod/sm/ref/bushingjoint.html

Bushing Joint angular velocities would be about inermediate axes. Tranform Sensor values would be components of Omega in base/follower XYZ.