Computation of Rigid-Body Angular Acceleration From Point-Acceleration Measurements

[+] Author and Article Information
Jorge Angeles

Department of Mechanical Engineering & Robotic Mechanical Systems Laboratory-McRCIM, McGill University, Montreal, Quebec, Canada H3A 2K6

J. Dyn. Sys., Meas., Control 109(2), 124-127 (Jun 01, 1987) (4 pages) doi:10.1115/1.3143828 History: Received July 01, 1986; Online July 21, 2009


The computation of the angular acceleration of a rigid body from measurements of accelerations of three noncollinear points of the body is presented in this paper. This is based on algorithms presented previously for the computation of the orientation and the angular velocity of a rigid body from measurements of position and velocity of three noncollinear points of the body. Moreover, compatibility conditions that the said point measurements should verify are introduced. These are necessary to verify the rigidity assumption on the one hand; on the other hand, they are introduced as a means of filtering roundoff and/or measurement errors, which is particularly useful if redundant measurements are taken, i.e., on more than three points. The procedure is illustrated with a fully solved example.

Copyright © 1987 by ASME
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