Dynamic Information

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SEE AML

Note See the link inertial tensor convention below.

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

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 I_xx and I_xy, for the components of the inertia tensor.

(courtesy of Wikipedia)