Line 9:
Line 9: ===Mass (kg)===
===Mass (kg)===
− {| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; "
−
− |style="width: 79px; background-color:#f5f5f5;"| '''Mass'''
− |style="width: 100px;"| X
− |}
{{dynamics_mass|123}}
{{dynamics_mass|123}}
Line 23:
Line 18: ===Inertial Tensor (kg*m{{sup|2}})===
===Inertial Tensor (kg*m{{sup|2}})===
− {| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; "
+ {{dynamics_inertia |xx|xy|xz|yx|yy|yz|zx|zy|zz}}
−
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xx}}'''
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xy}}'''
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|xz}}'''
+
− |style="width: 100px;"| 2.654e-01
+
− |style="width: 100px;"| 2.029e-04
+
− |style="width: 100px;"| 9.871e-05
+
−
+
− |-
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yx}}'''
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yy}}'''
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|yz}}'''
+
− |style="width: 100px;"| 2.029e-04
+
− |style="width: 100px;"| 6.379e-02
+
− |style="width: 100px;"| 3.037e-03
+
−
+
− |-
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zx}}'''
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zy}}'''
+
− |style="width: 25px; background-color:#f5f5f5;"| '''I{{sub|zz}}'''
+
− |style="width: 100px;"| 9.871e-05
+
− |style="width: 100px;"| 3.037e-03
+
− |style="width: 100px;"| 3.093e-01
+
− |}
+
Revision as of 15:02, 5 December 2013
×
TODO: Something!
SEE AML
Body (Base Link)
body_coord_frame.png
Mass (kg)
Center of Mass (m)
Inertial Tensor (kg*m2 )
Ixx
Ixy
Ixz
xx
xy
xz
Iyx
Iyy
Iyz
yx
yy
yz
Izx
Izy
Izz
zx
zy
zz
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 )
