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Computation of angular velocity and acceleration tensors by direct measurements

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Summary

The present paper investigates the properties of the angular velocity tensor ϕ and the angular acceleration tensor Ψ for rigid body motion. Three vectorial invariants of rigid body kinematics are presented. In case of tensor Ψ being non-singular, its inverse Ψ−1 is inferred. A novel procedure for automatic computation of tensor ϕ and Ψ based on measured velocity and acceleration data is developed. Depending of the type of available data, three algorithms are suggested. Numerical examples show the application of the method.

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Author notes

  1. D. Condurache & M. Matcovschi

    Present address: Department of Theoretical Mechanics, “Gh. Asachi” Technical University, Bd. D. Mangeron nr. 63, RO-6600, Iaşi, Romania

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    1. D. Condurache
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    2. M. Matcovschi
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    Condurache, D., Matcovschi, M. Computation of angular velocity and acceleration tensors by direct measurements. Acta Mechanica 153, 147–167 (2002). https://doi.org/10.1007/BF01177449

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    • DOI: https://doi.org/10.1007/BF01177449

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