# Difference between revisions of "Dynamic Information"

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{| style="text-align: center; width: 400px;" | {| style="text-align: center; width: 400px;" | ||

− | |style="width: 20px; background-color:# | + | |style="width: 20px; background-color:#ffffcc;"| '''I{{sub|xx}}''' || '''I{{sub|xy}}''' || '''I{{sub|xz}}''' |

| 2.654e-01 || 2.029e-04 || 9.871e-05 | | 2.654e-01 || 2.029e-04 || 9.871e-05 | ||

## Revision as of 17:43, 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 -1.812e-03 9.291e-03 5.294e-03 m

kg*m^{2}

I_{xx} I_{xy} I_{xz} 2.654e-01 2.029e-04 9.871e-05
I_{yx} I_{yy} I_{yz} 2.029e-04 6.379e-02 3.037e-03
I_{zx} I_{zy} I_{zz} 9.871e-05 3.037e-03 3.093e-01

I _{xx} |
I _{xy} |
I
_{xz} |
2.654e-01 | 2.029e-04 | 9.871e-05 |

I _{yx} |
I _{yy} |
I
_{yz} |
2.654e-01 | 2.029e-04 | 9.871e-05 |

I _{zx} |
I _{zy} |
I
_{zz} |
2.654e-01 | 2.029e-04 | 9.871e-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 I_{xx} and I_{xy}, for the components of the inertia tensor.

(courtesy of Wikipedia)