Is the “kinematicTrajectory” function correct for calculating angular velocity?
Hello there,
I noticed that the “kinematicTrajectory” function calculates angular velocity from the body frame to the earth frame using the “rotatepoint” function. The “rotatepoint” function can be formulated with the Rzyx rotation matrix.
where is roll, is pitch, is yaw.
However, some papers [1] and references [2] use the transfer matrix T.
Does anyone know which is correct?
[1] Emran, Bara J., and Homayoun Najjaran. "A review of quadrotor: An underactuated mechanical system." Annual Reviews in Control 46 (2018): 165-180.
[2] KINEMATICS OF MOVING FRAMES. [Online]. Available: https://ocw.mit.edu/courses/2-017j-design-of-electromechanical-robotic-systems-fall-2009/0da9fb3965410fd50979bb179b56805a_MIT2_017JF09_ch09.pdf.Hello there,
I noticed that the “kinematicTrajectory” function calculates angular velocity from the body frame to the earth frame using the “rotatepoint” function. The “rotatepoint” function can be formulated with the Rzyx rotation matrix.
where is roll, is pitch, is yaw.
However, some papers [1] and references [2] use the transfer matrix T.
Does anyone know which is correct?
[1] Emran, Bara J., and Homayoun Najjaran. "A review of quadrotor: An underactuated mechanical system." Annual Reviews in Control 46 (2018): 165-180.
[2] KINEMATICS OF MOVING FRAMES. [Online]. Available: https://ocw.mit.edu/courses/2-017j-design-of-electromechanical-robotic-systems-fall-2009/0da9fb3965410fd50979bb179b56805a_MIT2_017JF09_ch09.pdf. Hello there,
I noticed that the “kinematicTrajectory” function calculates angular velocity from the body frame to the earth frame using the “rotatepoint” function. The “rotatepoint” function can be formulated with the Rzyx rotation matrix.
where is roll, is pitch, is yaw.
However, some papers [1] and references [2] use the transfer matrix T.
Does anyone know which is correct?
[1] Emran, Bara J., and Homayoun Najjaran. "A review of quadrotor: An underactuated mechanical system." Annual Reviews in Control 46 (2018): 165-180.
[2] KINEMATICS OF MOVING FRAMES. [Online]. Available: https://ocw.mit.edu/courses/2-017j-design-of-electromechanical-robotic-systems-fall-2009/0da9fb3965410fd50979bb179b56805a_MIT2_017JF09_ch09.pdf. kinematictrajectory, rotation matrix, issue MATLAB Answers — New Questions
