Why the angular velocities measured by bushing joint and transform sensor are different
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Chong Zhao
on 5 Aug 2019
Commented: 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?
![untitled.jpg](https://www.mathworks.com/matlabcentral/answers/uploaded_files/232686/untitled.jpeg)
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Devineni Aslesha
on 29 Aug 2019
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?
Accepted Answer
Harshal Upadhyay
on 13 Sep 2019
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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