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

Asked by Chong Zhao on 5 Aug 2019
Latest activity Commented on by Chong Zhao on 16 Sep 2019
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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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?
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.
sensor.jpg

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1 Answer

Answer by Harshal Upadhyay on 13 Sep 2019
 Accepted Answer

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.

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