Difference between revisions of "Dynamic Information"
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===Inertial Tensor=== | ===Inertial Tensor=== | ||
− | {{note}} See [[#Link Inertial Tensor Convention]] below. | + | {{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below. |
mass 9.251 kg | mass 9.251 kg |
Revision as of 17:16, 4 December 2013
TODO: Something!
Body (Base Link)
Inertial Tensor
Note See the link inertial tensor convention below.
mass 9.251 kg
X Y Z -1.8106363e-03 9.2909375e-03 5.2942094e-03 m
kg*m^2 Ixx Ixy Ixz 2.6539482e-01 2.0285758e-04 9.8706413e-05 Iyx Iyy Iyz 2.0285758e-04 6.3794914e-02 3.0366059e-03 Izx Izy Izz 9.8706413e-05 3.0366059e-03 3.0930568e-01
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)