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Dynamic Information

Revision as of 14:33, 5 December 2013 by Alexalspach (Talk | contribs)

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Body (Base Link)


Mass (kg)

Center of Mass (m)

Mass X
X Y Z X 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)