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Difference between revisions of "Dynamic Information"

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{{TODO}}
 
{{TODO}}
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SEE AML
  
 
==Body (Base Link)==
 
==Body (Base Link)==
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[[body_coord_frame.png]]
 
[[body_coord_frame.png]]
  
===Inertial Tensor (kg*m{{sup|2}})===
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===Mass (kg)===
 
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{{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below.
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mass 9.251 kg
 
mass 9.251 kg
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===Center of Mass (m)===
  
 
X  Y  Z    -1.812e-03  9.291e-03  5.294e-03  m
 
X  Y  Z    -1.812e-03  9.291e-03  5.294e-03  m
  
kg*m{{sup|2}}
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===Inertial Tensor (kg*m{{sup|2}})===
 
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I{{sub|xx}} I{{sub|xy}} I{{sub|xz}}  2.654e-01  2.029e-04  9.871e-05
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I{{sub|yx}} I{{sub|yy}} I{{sub|yz}}  2.029e-04  6.379e-02  3.037e-03
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I{{sub|zx}} I{{sub|zy}} I{{sub|zz}}  9.871e-05  3.037e-03  3.093e-01
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{{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below.
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Revision as of 18:06, 4 December 2013

TODO: Something!

SEE AML

Contents

Body (Base Link)

body_coord_frame.png

Mass (kg)

mass 9.251 kg

Center of Mass (m)

X Y Z -1.812e-03 9.291e-03 5.294e-03 m

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

Note See the link inertial tensor convention below.



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)