Dynamic Information
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SEE AML
Contents |
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*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 |
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 I_{xx} and I_{xy}, for the components of the inertia tensor.
(courtesy of Wikipedia)