Difference between revisions of "Dynamic Information"
Alexalspach (Talk | contribs) |
Alexalspach (Talk | contribs) |
||
| Line 2: | Line 2: | ||
SEE AML | SEE AML | ||
| + | |||
| + | {{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below. | ||
==Body (Base Link)== | ==Body (Base Link)== | ||
| Line 11: | Line 13: | ||
{{dynamics_mass|123}} | {{dynamics_mass|123}} | ||
| + | ===Center of Mass (m)=== | ||
| + | |||
| + | {{dynamics_com|123|456|789}} | ||
| + | |||
| + | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| + | |||
| + | {{dynamics_inertia|xx|xy|xz|yx|yy|yz|zx|zy|zz}} | ||
| + | |||
| + | |||
| + | ==Front-Right, Link 1 (FR1)== | ||
| + | |||
| + | [[fr1_coord_frame.png]] | ||
| + | |||
| + | ===Mass (kg)=== | ||
| + | |||
| + | {{dynamics_mass|123}} | ||
===Center of Mass (m)=== | ===Center of Mass (m)=== | ||
| Line 21: | Line 39: | ||
| − | {{ | + | ==Front-Right, Link 2 (FR2)== |
| + | |||
| + | [[fr2_coord_frame.png]] | ||
| + | |||
| + | ===Mass (kg)=== | ||
| + | |||
| + | {{dynamics_mass|123}} | ||
| + | |||
| + | ===Center of Mass (m)=== | ||
| + | |||
| + | {{dynamics_com|123|456|789}} | ||
| + | |||
| + | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| + | |||
| + | {{dynamics_inertia|xx|xy|xz|yx|yy|yz|zx|zy|zz}} | ||
| + | |||
| + | |||
| + | ==Front-Right, Link 3 (FR3)== | ||
| + | |||
| + | [[fr3_coord_frame.png]] | ||
| + | |||
| + | ===Mass (kg)=== | ||
| + | |||
| + | {{dynamics_mass|123}} | ||
| + | |||
| + | ===Center of Mass (m)=== | ||
| + | |||
| + | {{dynamics_com|123|456|789}} | ||
| + | |||
| + | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| + | |||
| + | {{dynamics_inertia|xx|xy|xz|yx|yy|yz|zx|zy|zz}} | ||
| + | |||
| + | |||
| + | ==Front-Right, Link 4 (FR3)== | ||
| + | |||
| + | [[fr4_coord_frame.png]] | ||
| + | |||
| + | ===Mass (kg)=== | ||
| + | |||
| + | {{dynamics_mass|123}} | ||
| + | |||
| + | ===Center of Mass (m)=== | ||
| + | |||
| + | {{dynamics_com|123|456|789}} | ||
| + | |||
| + | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| + | |||
| + | {{dynamics_inertia|xx|xy|xz|yx|yy|yz|zx|zy|zz}} | ||
| + | |||
| + | |||
| + | |||
Revision as of 15:11, 5 December 2013
TODO: Something!
SEE AML
Note See the link inertial tensor convention below.
Contents |
Body (Base Link)
Mass (kg)
| Mass | 123 |
Center of Mass (m)
| X | Y | Z | 123 | 456 | 789 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | xx | xy | xz |
| Iyx | Iyy | Iyz | yx | yy | yz |
| Izx | Izy | Izz | zx | zy | zz |
Front-Right, Link 1 (FR1)
Mass (kg)
| Mass | 123 |
Center of Mass (m)
| X | Y | Z | 123 | 456 | 789 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | xx | xy | xz |
| Iyx | Iyy | Iyz | yx | yy | yz |
| Izx | Izy | Izz | zx | zy | zz |
Front-Right, Link 2 (FR2)
Mass (kg)
| Mass | 123 |
Center of Mass (m)
| X | Y | Z | 123 | 456 | 789 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | xx | xy | xz |
| Iyx | Iyy | Iyz | yx | yy | yz |
| Izx | Izy | Izz | zx | zy | zz |
Front-Right, Link 3 (FR3)
Mass (kg)
| Mass | 123 |
Center of Mass (m)
| X | Y | Z | 123 | 456 | 789 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | xx | xy | xz |
| Iyx | Iyy | Iyz | yx | yy | yz |
| Izx | Izy | Izz | zx | zy | zz |
Front-Right, Link 4 (FR3)
Mass (kg)
| Mass | 123 |
Center of Mass (m)
| X | Y | Z | 123 | 456 | 789 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | xx | xy | xz |
| Iyx | Iyy | Iyz | yx | yy | yz |
| Izx | Izy | Izz | zx | zy | zz |
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)
