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Dynamic Information

Revision as of 15:16, 5 December 2013 by Alexalspach (Talk | contribs)

TODO: Something!

SEE AML

Note See the link inertial tensor convention below.

Contents

Body (Base Link)

body_coord_frame.png

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)

fr1_coord_frame.png

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)

fr2_coord_frame.png

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)

fr3_coord_frame.png

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)

fr4_coord_frame.png

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-Left, Link 1 (FL1)

fl1_coord_frame.png

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-Left, Link 2 (FL2)

fl2_coord_frame.png

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-Left, Link 3 (FL3)

fl3_coord_frame.png

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-Left, Link 4 (FL4)

fl4_coord_frame.png

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


Rear-Right, Link 1 (RR1)

rr1_coord_frame.png

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


Rear-Right, Link 2 (RR2)

rr2_coord_frame.png

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


Rear-Right, Link 3 (RR3)

rr3_coord_frame.png

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


Rear-Right, Link 4 (RR4)

rr4_coord_frame.png

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


Rear-Left, Link 1 (RL1)

rl1_coord_frame.png

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


Rear-Left, Link 2 (RL2)

rl2_coord_frame.png

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


Rear-Left, Link 3 (RL3)

rl3_coord_frame.png

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


Rear-Left, Link 4 (RL4)

rl4_coord_frame.png

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,

Inertial matrix.png

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)

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