Consider two rigid bodies that share a common point Q as shown in Figure Such a the two bodies are connected by a Universal joint. A coordinate system is attached to each body and it is assumed that coordinates of point P are known in terms of coordinate systems A and B.
For this approach, Three 3-axis accelerometers and one 9DOF IMU(3-axis gyroscope, 3-axis compass: , 3-axis accelerometer) are attached to each body.
- Design a mathematical model to Find:
- the orientation relationship between coordinate systems A and B as represented by the matrix
- joint angles
- the angular velocity of body B relative to body A, i.e. AwB,
- the angular acceleration of body B relative to body A, i.e. AaB .
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