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Difference between revisions of "Dynamic Information"

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{{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below.
 
{{note}} See the [[#Link Inertial Tensor Convention|link inertial tensor convention]] below.

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)