Relative Rotation
Measures the relative rotational motion between two frames
Description
Connections
Parameters
See Also
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.)
Name
framea
Sensor frame
frameb
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.
Symbol
Default
Units
Modelica ID
Resolved Frame
Inertial
Frame in which the output signals are expressed.
Frame
Multibody Sensors
Multibody Overview
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