The angular orientation angles can also be used in
the computation of the angular velocity of the object. By taking the time-derivatives of
the orientation angles, one can obtain three independent angular velocities:
or
where, wB/A = the angular velocity of frame B relative to frame A, and f, q, and y = the three orientation angles of frame B relative to frame A. [10] shows the angular velocity of frame B relative to A described in frame B while [11] shows the same vector described in frame A. Choose the right form of angular velocity depending on your needs. If the global angular velocity of frame A (wA) is available, the actual angular velocity of frame B is
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© Young-Hoo Kwon, 1998- |