Difference between revisions of "Dynamic Information"
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==Body (Base Link)== | ==Body (Base Link)== | ||
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[[body_coord_frame.png]] | [[body_coord_frame.png]] | ||
− | === | + | ===Mass (kg)=== |
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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}} | + | ===Inertial Tensor (kg*m{{sup|2}})=== |
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{| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 400px;" | {| style="border-collapse: separate; border-spacing: 15; border-width: 2px; border-style: solid; border-color: #CCCCCC; padding: 0px; text-align: center; width: 400px;" | ||
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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)
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,
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)