Difference between revisions of "Dynamic Information"
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SEE AML | SEE AML | ||
+ | |||
+ | {{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below. | ||
==Body (Base Link)== | ==Body (Base Link)== | ||
Line 9: | Line 11: | ||
===Mass (kg)=== | ===Mass (kg)=== | ||
+ | {{dynamics_mass| 9.251e+00}} | ||
+ | ===Center of Mass (m)=== | ||
+ | {{dynamics_com|-1.811e-03|9.291e-03|5.294e-03}} | ||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|2.654e-01|2.029e-04|9.871e-05|2.029e-04|6.379e-02|3.037e-03|9.871e-05|3.037e-03|3.093e-01}} | ||
+ | |||
+ | ==Front-Right, Link 1 (FR1)== | ||
+ | |||
+ | [[fr1_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|9.339e-01}} | ||
===Center of Mass (m)=== | ===Center of Mass (m)=== | ||
− | |||
− | | | + | {{dynamics_com|2.822e-02|-2.367e-04|-5.227e-02}} |
− | + | ||
− | + | ||
− | + | ||
− | + | ===Inertial Tensor (kg*m{{sup|2}})=== | |
− | | | + | |
− | | | + | {{dynamics_inertia|3.929e-03|0.000e-03|1.837e-03|0.000e-03|5.348e-03|5.651e-07|1.837e-03|5.651e-07|2.316e-03}} |
− | | | + | |
− | + | ==Front-Right, Link 2 (FR2)== | |
− | + | ||
− | |} | + | [[fr2_coord_frame.png]] |
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.252e+00}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|-2.405e-02|8.202e-05|-6.794e-02}} | ||
===Inertial Tensor (kg*m{{sup|2}})=== | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
− | {| | + | {{dynamics_inertia|9.146e-03|8.441e-07|-1.803e-03|8.441e-07|1.135e-02|8.961e-06|-1.803e-03|8.961e-06|2.764e-03}} |
− | + | ==Front-Right, Link 3 (FR3)== | |
− | + | ||
− | + | ||
− | + | ||
− | + | [[fr3_coord_frame.png]] | |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ===Mass (kg)=== | |
− | + | ||
− | + | ||
− | + | ||
− | + | ||
− | + | ||
+ | {{dynamics_mass|4.558e-01}} | ||
− | + | ===Center of Mass (m)=== | |
+ | {{dynamics_com|2.087e-03|-4.787e-06|-6.086e-02}} | ||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | {{dynamics_inertia|3.198e-03|-1.679e-09|3.125e-06|-1.679e-09|3.266e-03|-1.949e-07|3.125e-06|-1.949e-07|1.255e-04}} | ||
+ | |||
+ | ==Front-Right, Link 4 (FR4)== | ||
+ | |||
+ | [[fr4_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.807e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|0.000e-03|0.000e-03|3.880e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}} | ||
+ | |||
+ | ==Front-Left, Link 1 (FL1)== | ||
+ | |||
+ | [[fl1_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|9.339e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|-2.822e-02|-2.367e-04|-5.227e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|3.929e-03|0.000e-03|-1.837e-03|0.000e-03|5.348e-03|5.648e-07|-1.837e-03|5.648e-04|2.316e-03}} | ||
+ | |||
+ | ==Front-Left, Link 2 (FL2)== | ||
+ | |||
+ | [[fl2_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.252e+00}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|2.405e-02|-4.712e-05|-6.794e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|9.146e-03|1.888e-07|1.803e-03|1.888e-07|1.135e-02|-7.516e-06|1.803e-03|-7.516e-06|2.764e-03}} | ||
+ | |||
+ | ==Front-Left, Link 3 (FL3)== | ||
+ | |||
+ | [[fl3_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|4.558e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|-2.087e-03|4.787e-06|-6.086e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|3.198e-03|-1.679e-09|-3.125e-06|-1.679e-09|3.266e-03|1.949e-07|-3.125e-06|1.949e-07|1.255e-04}} | ||
+ | |||
+ | ==Front-Left, Link 4 (FL4)== | ||
+ | |||
+ | [[fl4_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.807e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|0.000e-03|0.000e-03|3.880e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}} | ||
+ | |||
+ | ==Rear-Right, Link 1 (RR1)== | ||
+ | |||
+ | [[rr1_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|9.339e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|-2.822e-02|-2.367e-04|-5.227e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|3.929e-03|0.000e-03|-1.837e-03|0.000e-03|5.348e-03|5.648e-07|-1.837e-03|5.648e-07|2.316e-03}} | ||
+ | |||
+ | ==Rear-Right, Link 2 (RR2)== | ||
+ | |||
+ | [[rr2_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.252e+00}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|2.405e-02|-4.712e-05|-6.794e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|9.146e-03|1.888e-07|1.803e-03|1.888e-07|1.135e-02|-7.516e-06|1.803e-03|-7.516e-06|2.764e-03}} | ||
+ | |||
+ | ==Rear-Right, Link 3 (RR3)== | ||
+ | |||
+ | [[rr3_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|4.558e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|-2.087e-03|4.787e-06|-6.086e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|3.198e-03|-1.679e-09|-3.125e-06|-1.679e-09|3.266e-03|1.949e-07|-3.125e-06|1.949e-07|1.255e-04}} | ||
+ | |||
+ | ==Rear-Right, Link 4 (RR4)== | ||
+ | |||
+ | [[rr4_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.807e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|0.000e-03|0.000e-03|3.880e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}} | ||
+ | |||
+ | ==Rear-Left, Link 1 (RL1)== | ||
+ | |||
+ | [[rl1_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|9.339e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|2.822e-02|-2.367e-04|-5.227e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|3.929e-03|0.000e-03|1.837e-03|0.000e-03|5.348e-03|5.651e-07|1.837e-03|5.651e-07|2.316e-03}} | ||
+ | |||
+ | ==Rear-Left, Link 2 (RL2)== | ||
+ | |||
+ | [[rl2_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.252e+00}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|-2.405e-02|8.202e-05|-6.794e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|9.146e-03|8.441e-07|-1.803e-03|8.441e-07|1.135e-02|8.961e-06|-1.803e-03|8.961e-06|2.764e-03}} | ||
+ | |||
+ | ==Rear-Left, Link 3 (RL3)== | ||
+ | |||
+ | [[rl3_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|4.558e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|2.087e-03|-4.787e-06|-6.086e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | |||
+ | {{dynamics_inertia|3.198e-03|-1.679e-09|3.125e-06|-1.679e-09|3.266e-03|-1.949e-07|3.125e-06|-1.949e-07|1.255e-04}} | ||
+ | |||
+ | ==Rear-Left, Link 4 (RL4)== | ||
+ | |||
+ | |||
+ | [[rl4_coord_frame.png]] | ||
+ | |||
+ | ===Mass (kg)=== | ||
+ | |||
+ | {{dynamics_mass|1.807e-01}} | ||
+ | |||
+ | ===Center of Mass (m)=== | ||
+ | |||
+ | {{dynamics_com|0.000e-03|0.000e-03|3.880e-02}} | ||
+ | |||
+ | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
+ | {{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}} | ||
==Link Inertial Tensor Convention== | ==Link Inertial Tensor Convention== |
Latest revision as of 17:55, 5 December 2013
TODO: Something!
SEE AML
Note See the link inertial tensor convention below.
Body (Base Link)
Mass (kg)
Mass | 9.251e+00 |
Center of Mass (m)
X | Y | Z | -1.811e-03 | 9.291e-03 | 5.294e-03 |
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 |
Front-Right, Link 1 (FR1)
Mass (kg)
Mass | 9.339e-01 |
Center of Mass (m)
X | Y | Z | 2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | 1.837e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.651e-07 |
Izx | Izy | Izz | 1.837e-03 | 5.651e-07 | 2.316e-03 |
Front-Right, Link 2 (FR2)
Mass (kg)
Mass | 1.252e+00 |
Center of Mass (m)
X | Y | Z | -2.405e-02 | 8.202e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 9.146e-03 | 8.441e-07 | -1.803e-03 |
Iyx | Iyy | Iyz | 8.441e-07 | 1.135e-02 | 8.961e-06 |
Izx | Izy | Izz | -1.803e-03 | 8.961e-06 | 2.764e-03 |
Front-Right, Link 3 (FR3)
Mass (kg)
Mass | 4.558e-01 |
Center of Mass (m)
X | Y | Z | 2.087e-03 | -4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | 3.125e-06 |
Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | -1.949e-07 |
Izx | Izy | Izz | 3.125e-06 | -1.949e-07 | 1.255e-04 |
Front-Right, Link 4 (FR4)
Mass (kg)
Mass | 1.807e-01 |
Center of Mass (m)
X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
Front-Left, Link 1 (FL1)
Mass (kg)
Mass | 9.339e-01 |
Center of Mass (m)
X | Y | Z | -2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | -1.837e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.648e-07 |
Izx | Izy | Izz | -1.837e-03 | 5.648e-04 | 2.316e-03 |
Front-Left, Link 2 (FL2)
Mass (kg)
Mass | 1.252e+00 |
Center of Mass (m)
X | Y | Z | 2.405e-02 | -4.712e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 9.146e-03 | 1.888e-07 | 1.803e-03 |
Iyx | Iyy | Iyz | 1.888e-07 | 1.135e-02 | -7.516e-06 |
Izx | Izy | Izz | 1.803e-03 | -7.516e-06 | 2.764e-03 |
Front-Left, Link 3 (FL3)
Mass (kg)
Mass | 4.558e-01 |
Center of Mass (m)
X | Y | Z | -2.087e-03 | 4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | -3.125e-06 |
Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | 1.949e-07 |
Izx | Izy | Izz | -3.125e-06 | 1.949e-07 | 1.255e-04 |
Front-Left, Link 4 (FL4)
Mass (kg)
Mass | 1.807e-01 |
Center of Mass (m)
X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
Rear-Right, Link 1 (RR1)
Mass (kg)
Mass | 9.339e-01 |
Center of Mass (m)
X | Y | Z | -2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | -1.837e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.648e-07 |
Izx | Izy | Izz | -1.837e-03 | 5.648e-07 | 2.316e-03 |
Rear-Right, Link 2 (RR2)
Mass (kg)
Mass | 1.252e+00 |
Center of Mass (m)
X | Y | Z | 2.405e-02 | -4.712e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 9.146e-03 | 1.888e-07 | 1.803e-03 |
Iyx | Iyy | Iyz | 1.888e-07 | 1.135e-02 | -7.516e-06 |
Izx | Izy | Izz | 1.803e-03 | -7.516e-06 | 2.764e-03 |
Rear-Right, Link 3 (RR3)
Mass (kg)
Mass | 4.558e-01 |
Center of Mass (m)
X | Y | Z | -2.087e-03 | 4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | -3.125e-06 |
Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | 1.949e-07 |
Izx | Izy | Izz | -3.125e-06 | 1.949e-07 | 1.255e-04 |
Rear-Right, Link 4 (RR4)
Mass (kg)
Mass | 1.807e-01 |
Center of Mass (m)
X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
Rear-Left, Link 1 (RL1)
Mass (kg)
Mass | 9.339e-01 |
Center of Mass (m)
X | Y | Z | 2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | 1.837e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.651e-07 |
Izx | Izy | Izz | 1.837e-03 | 5.651e-07 | 2.316e-03 |
Rear-Left, Link 2 (RL2)
Mass (kg)
Mass | 1.252e+00 |
Center of Mass (m)
X | Y | Z | -2.405e-02 | 8.202e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 9.146e-03 | 8.441e-07 | -1.803e-03 |
Iyx | Iyy | Iyz | 8.441e-07 | 1.135e-02 | 8.961e-06 |
Izx | Izy | Izz | -1.803e-03 | 8.961e-06 | 2.764e-03 |
Rear-Left, Link 3 (RL3)
Mass (kg)
Mass | 4.558e-01 |
Center of Mass (m)
X | Y | Z | 2.087e-03 | -4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | 3.125e-06 |
Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | -1.949e-07 |
Izx | Izy | Izz | 3.125e-06 | -1.949e-07 | 1.255e-04 |
Rear-Left, Link 4 (RL4)
Mass (kg)
Mass | 1.807e-01 |
Center of Mass (m)
X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
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)