Mambo Toolbox Functions - AngularVelocity


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AngularVelocity — Extraction of angular velocity between triads [maple]

Reference: Appendix B in Multibody Mechanics and Visualization by Harry Dankowicz, published by Springer Verlag UK, 2004.

Calling Sequence

AngularVelocity(a1,a2)

Parameters

a1, a2: name of defined triads

Description

The function AngularVelocity returns the angular velocity of the triad a2 relative to the triad a1.

Remember to invoke DeclareStates prior to using AngularVelocity.

Examples

>Restart():
>DeclareTriads(a,b):
>DefineTriads(a,b,[q1,1],[q2,3],[q3,1]):
>DeclareStates(q1,q2,q3):
>AngularVelocity(a,b);

$table ([1 = table ([Coordinates = [\begin{array}{c} \cos (q2) q1t + q3t \\ q2t \sin (q3) - \sin (q2) q1t \cos (q3) \\ q2t \cos (q3) + \sin (q3) q1t \sin (q2) \end{array}], Triad = b]), Size = 1, Type = Vector])$

See Also

LinearVelocity, DeclareStates

Toolbox functions

&**, &++, &--, &xx, &oo &>, &>=, &<, &<=, &==, &!= AngularMomentum AngularVelocity CoeffExtract DeclareObservers DeclarePoints DeclareStates DeclareTriads DefineNeighbors DefineObjects DefineObservers DefinePoints DefineTriads DiffTime Express FindCoordinates FindOrientation FindPosition FindRotation FindTranslation ForceDescription GeometryOutput LinearMomentum LinearVelocity MakeDescription MakeRotations MakeTranslations MomentumDescription MotionOutput NullVector Restart Simplify Undo VectorLength VelocityDescription