Difference between revisions of "Dynamic Information"
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===Center of Mass (m)=== | ===Center of Mass (m)=== | ||
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Revision as of 14:44, 5 December 2013
TODO: Something!
SEE AML
Contents |
Body (Base Link)
Mass (kg)
| Mass | X |
| Mass | X |
Center of Mass (m)
| X | Y | Z | X | 9.291e-03 | 5.294e-03 m |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 2.654e-01 | 2.029e-04 | 9.871e-05 |
| Iyx | Iyy | Iyz | 2.029e-04 | 6.379e-02 | 3.037e-03 |
| Izx | Izy | Izz | 9.871e-05 | 3.037e-03 | 3.093e-01 |
Note See the link inertial tensor convention below.
Link Inertial Tensor Convention
The components of tensors of degree two can be assembled into a matrix. For the inertia tensor this matrix is given by,
It is common in rigid body mechanics to use notation that explicitly identifies the x, y, and z axes, such as Ixx and Ixy, for the components of the inertia tensor.
(courtesy of Wikipedia)
