Absolute Rotation
Measures the absolute rotational motion of a frame with respect to ground
Description
Connections
Parameters
See Also
An absolute rotation sensor measures the rotation matrix, angular velocity, and angular acceleration of a frame with respect to ground. 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
frameb
Frame to measure
RMOutputR
Real signal of dimension 9 (column-major order) that represents the rotation matrix between the inertial and frame_b.
RMOutputW
Real signal of dimension 3 that specifies the angular velocity of frame_b with respect to the Inertial frame. The measured quantity is expressed in the frame specified by the Resolved Frame parameter.
RMOutputAA
Real signal of dimension 3 that specifies the angular acceleration of frame_b with respect to the Inertial frame. The measured quantity is expressed in the frame specified by the Resolved Frame parameter.
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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