What's the difference between joint velocity and object velocity

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Matthew Qi
Posts: 17
Joined: 31 Aug 2017, 02:11

What's the difference between joint velocity and object velocity

Post by Matthew Qi » 09 Apr 2018, 13:50

Hi,
When I record joint angular velocity v in Graph in V-REP, it only shows a set of one-dimensional data. But when I want to record joint angular velocity in remoteAPI in Python, I use simxGetObjectVelocity but return a set of three-dimensional data, vx,vy,vz

So do these angular velocities has a relationship that v*v = vx*vx+vy*vy+vz*vz?

Thanks,
Mat

coppelia
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Posts: 6506
Joined: 14 Dec 2012, 00:25

Re: What's the difference between joint velocity and object velocity

Post by coppelia » 12 Apr 2018, 07:10

Hello Mat,

you can get two types of velocities of a joint: the actual joint velocity (i.e. one-dimensional angular velocity, or intrinsic velocity), or the velocity of the joint seen as an object (i.e. the 3-dimensional angular velocity of the object in space).

Inside of the remote API, you'll have to get the joint angular position, and time-derivate it yourself for the actual joint angular velocity.

Cheers

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