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visual3d:documentation:pipeline:model_based_data_commands:joint_velocity [2024/06/19 14:01] – created sgrangervisual3d:documentation:pipeline:model_based_data_commands:joint_velocity [2024/07/17 15:46] (current) – created sgranger
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 +====== Joint Velocity ======
 +
 The Joint Velocity model-based item is a vector that describes the relative angular velocity of one segment relative to another segment. The Joint Velocity model-based item is a vector that describes the relative angular velocity of one segment relative to another segment.
  
-{{JointVelocityDlg.jpg}}+{{:JointVelocityDlg.jpg}}
  
 \\ \\
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 With respect to the default Visual3D convention of an XYZ sequence for the Cardan angle, the joint angular velocity can be expressed in Euler angles using the following relationship. With respect to the default Visual3D convention of an XYZ sequence for the Cardan angle, the joint angular velocity can be expressed in Euler angles using the following relationship.
  
-{{AngularVelocityUsingEulerAngles.gif}}+{{:AngularVelocityUsingEulerAngles.gif}}
  
-===== Example - Comparing Joint Angle and Joint Angular Velocity =====+==== Example - Comparing Joint Angle and Joint Angular Velocity ====
  
 Joint Angles are typically represented in a Cardan sequence and Joint Velocities are typically represented as vectors. The consequence is that you cannot compare directly all 3 components of the Joint Angle with, what appear to be homologous, components of the Joint Velocity. For example, given the following definition of the Right Knee Angle: Joint Angles are typically represented in a Cardan sequence and Joint Velocities are typically represented as vectors. The consequence is that you cannot compare directly all 3 components of the Joint Angle with, what appear to be homologous, components of the Joint Velocity. For example, given the following definition of the Right Knee Angle:
  
-{{RKneeAngleDefn.jpg}}+{{:RKneeAngleDefn.jpg}}
  
 and the following definition of the Right Knee Angular Velocity: and the following definition of the Right Knee Angular Velocity:
  
-{{RKneeVelocityDefn1.jpg}}+{{:RKneeVelocityDefn1.jpg}}
  
 only the X-components of the two signals are related (i.e., these components relate to the segment's rotation about the same axis). only the X-components of the two signals are related (i.e., these components relate to the segment's rotation about the same axis).
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 If a second Joint Velocity item is created as follows: If a second Joint Velocity item is created as follows:
  
-{{RKneeVelocityDefn2.jpg}}+{{:RKneeVelocityDefn2.jpg}}
  
 then the Z-components of this second definition and the original joint angle definition can be compared. then the Z-components of this second definition and the original joint angle definition can be compared.
visual3d/documentation/pipeline/model_based_data_commands/joint_velocity.1718805710.txt.gz · Last modified: 2024/06/19 14:01 by sgranger