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===Inertial Tensor===
 
===Inertial Tensor===
  
{{note}} See [[#Link Inertial Tensor Convention]] below.
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{{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)

body_coord_frame.png

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,

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)