WOLFRAM SYSTEM MODELER

InitAngularVelocity

Internal model to initialize w_rel_b for Joints.FreeMotionScalarInit

Wolfram Language

In[1]:=
SystemModel["Modelica.Mechanics.MultiBody.Joints.Internal.InitAngularVelocity"]
Out[1]:=

Information

This information is part of the Modelica Standard Library maintained by the Modelica Association.

Compute relative angular velocity w_rel_b of an orientation object R_b relative to an orientation object R_a, resolved in orientation object R_b, i.e. 

w_b_b = w_a_b + w_rel_b,

where 

w_b_b ...... absolute angular velocity of frame_b resolved in frame_b,
w_a_b ...... absolute angular velocity of frame_a resolved in frame_b,
w_rel_b .... relative angular velocity resolved in frame_b.

Inputs (2)

R_a

Type: Orientation

Description: Orientation object defining rotation from a frame 1 into a frame 2
R_b

Type: Orientation

Description: Orientation object defining rotation from a frame 1 into a frame 2

Connectors (1)

w_rel_b

Type: RealOutput[3]

Description: 'output Real' as connector

Components (2)

R_a

Type: Orientation

Description: Orientation object defining rotation from a frame 1 into a frame 2
R_b

Type: Orientation

Description: Orientation object defining rotation from a frame 1 into a frame 2

Used in Components (1)

FreeMotionScalarInit

Modelica.Mechanics.MultiBody.Joints

Free motion joint with scalar initialization and state selection (6 degrees-of-freedom, 12 potential states)