visual3d:documentation:pipeline:model_based_data_commands:joint_velocity
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| visual3d:documentation:pipeline:model_based_data_commands:joint_velocity [2024/07/16 19:30] – created sgranger | visual3d:documentation:pipeline:model_based_data_commands:joint_velocity [2024/07/17 15:46] (current) – created sgranger | ||
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| 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 ==== | ||
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| 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' | only the X-components of the two signals are related (i.e., these components relate to the segment' | ||
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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.1721158222.txt.gz · Last modified: 2024/07/16 19:30 by sgranger