Difference between revisions of "Sandbox2"
(→Rear-Right, Link 2 (RR2)) |
(→Rear-Right, Link 4 (RR4)) |
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| Line 7: | Line 7: | ||
==Body (Base Link)== | ==Body (Base Link)== | ||
| − | [[body_coord_frame.png]] | + | [[image:body_coord_frame.png|400px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 23: | Line 23: | ||
==Front-Right, Link 1 (FR1)== | ==Front-Right, Link 1 (FR1)== | ||
| − | [[fr1_coord_frame.png]] | + | [[image:fr1_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 39: | Line 39: | ||
==Front-Right, Link 2 (FR2)== | ==Front-Right, Link 2 (FR2)== | ||
| − | [[fr2_coord_frame.png]] | + | [[image:fr2_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 55: | Line 55: | ||
==Front-Right, Link 3 (FR3)== | ==Front-Right, Link 3 (FR3)== | ||
| − | [[fr3_coord_frame.png]] | + | [[image:fr3_coord_frame.png|150px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 71: | Line 71: | ||
==Front-Right, Link 4 (FR4)== | ==Front-Right, Link 4 (FR4)== | ||
| − | [[fr4_coord_frame.png]] | + | [[image:fr4_coord_frame.png|150px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 87: | Line 87: | ||
==Front-Left, Link 1 (FL1)== | ==Front-Left, Link 1 (FL1)== | ||
| − | [[fl1_coord_frame.png]] | + | [[image:fl1_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 103: | Line 103: | ||
==Front-Left, Link 2 (FL2)== | ==Front-Left, Link 2 (FL2)== | ||
| − | [[fl2_coord_frame.png]] | + | [[image:fl2_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 119: | Line 119: | ||
==Front-Left, Link 3 (FL3)== | ==Front-Left, Link 3 (FL3)== | ||
| − | [[fl3_coord_frame.png]] | + | [[image:fl3_coord_frame.png|150px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 135: | Line 135: | ||
==Front-Left, Link 4 (FL4)== | ==Front-Left, Link 4 (FL4)== | ||
| − | [[fl4_coord_frame.png]] | + | [[image:fl4_coord_frame.png|150px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 151: | Line 151: | ||
==Rear-Right, Link 1 (RR1)== | ==Rear-Right, Link 1 (RR1)== | ||
| − | [[rr1_coord_frame.png]] | + | [[image:rr1_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 167: | Line 167: | ||
==Rear-Right, Link 2 (RR2)== | ==Rear-Right, Link 2 (RR2)== | ||
| − | [[rr2_coord_frame.png]] | + | [[image:rr2_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 183: | Line 183: | ||
==Rear-Right, Link 3 (RR3)== | ==Rear-Right, Link 3 (RR3)== | ||
| − | [[rr3_coord_frame.png]] | + | [[image:rr3_coord_frame.png|150px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 199: | Line 199: | ||
==Rear-Right, Link 4 (RR4)== | ==Rear-Right, Link 4 (RR4)== | ||
| − | + | [[image:rr4_coord_frame.png|150px]] | |
| − | + | ||
| − | [[rr4_coord_frame.png]] | + | |
===Mass (kg)=== | ===Mass (kg)=== | ||
| − | {{dynamics_mass| | + | {{dynamics_mass|1.807e-01}} |
===Center of Mass (m)=== | ===Center of Mass (m)=== | ||
| − | {{dynamics_com| | + | {{dynamics_com|0.000e-03|0.000e-03|3.880e-02}} |
===Inertial Tensor (kg*m{{sup|2}})=== | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| − | {{dynamics_inertia| | + | {{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}} |
==Rear-Left, Link 1 (RL1)== | ==Rear-Left, Link 1 (RL1)== | ||
| − | [[rl1_coord_frame.png]] | + | [[image:rl1_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 229: | Line 227: | ||
===Inertial Tensor (kg*m{{sup|2}})=== | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| − | {{dynamics_inertia|3.929e-03|0.000e-03|1.837e-03|0.000e-03|5.348e-03|5.651e-07|1.837e-03|5.651e- | + | {{dynamics_inertia|3.929e-03|0.000e-03|1.837e-03|0.000e-03|5.348e-03|5.651e-07|1.837e-03|5.651e-07|2.316e-03}} |
==Rear-Left, Link 2 (RL2)== | ==Rear-Left, Link 2 (RL2)== | ||
| − | [[rl2_coord_frame.png]] | + | [[image:rl2_coord_frame.png|200px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 249: | Line 247: | ||
==Rear-Left, Link 3 (RL3)== | ==Rear-Left, Link 3 (RL3)== | ||
| − | [[rl3_coord_frame.png]] | + | [[image:rl3_coord_frame.png|150px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| Line 265: | Line 263: | ||
==Rear-Left, Link 4 (RL4)== | ==Rear-Left, Link 4 (RL4)== | ||
| − | |||
| − | [[rl4_coord_frame.png]] | + | [[image:rl4_coord_frame.png|150px]] |
===Mass (kg)=== | ===Mass (kg)=== | ||
| − | {{dynamics_mass| | + | {{dynamics_mass|1.807e-01}} |
===Center of Mass (m)=== | ===Center of Mass (m)=== | ||
| − | {{dynamics_com| | + | {{dynamics_com|0.000e-03|0.000e-03|3.880e-02}} |
===Inertial Tensor (kg*m{{sup|2}})=== | ===Inertial Tensor (kg*m{{sup|2}})=== | ||
| − | {{dynamics_inertia| | + | {{dynamics_inertia|5.187e-04|0.000e-03|0.000e-03|0.000e-03|5.207e-04|0.000e-03|0.000e-03|0.000e-03|2.116e-05}} |
==Link Inertial Tensor Convention== | ==Link Inertial Tensor Convention== | ||
| Line 289: | Line 286: | ||
(courtesy of [https://en.wikipedia.org/wiki/Moment_of_inertia#The_inertia_tensor Wikipedia]) | (courtesy of [https://en.wikipedia.org/wiki/Moment_of_inertia#The_inertia_tensor Wikipedia]) | ||
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Latest revision as of 12:58, 6 December 2013
TODO: Something!
SEE AML
Note See the link inertial tensor convention below.
Body (Base Link)
Mass (kg)
| Mass | 9.251e+00 |
Center of Mass (m)
| X | Y | Z | -1.811e-03 | 9.291e-03 | 5.294e-03 |
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 |
Front-Right, Link 1 (FR1)
Mass (kg)
| Mass | 9.339e-01 |
Center of Mass (m)
| X | Y | Z | 2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | 1.837e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.651e-07 |
| Izx | Izy | Izz | 1.837e-03 | 5.651e-07 | 2.316e-03 |
Front-Right, Link 2 (FR2)
Mass (kg)
| Mass | 1.252e+00 |
Center of Mass (m)
| X | Y | Z | -2.405e-02 | 8.202e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 9.146e-03 | 8.441e-07 | -1.803e-03 |
| Iyx | Iyy | Iyz | 8.441e-07 | 1.135e-02 | 8.961e-06 |
| Izx | Izy | Izz | -1.803e-03 | 8.961e-06 | 2.764e-03 |
Front-Right, Link 3 (FR3)
Mass (kg)
| Mass | 4.558e-01 |
Center of Mass (m)
| X | Y | Z | 2.087e-03 | -4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | 3.125e-06 |
| Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | -1.949e-07 |
| Izx | Izy | Izz | 3.125e-06 | -1.949e-07 | 1.255e-04 |
Front-Right, Link 4 (FR4)
Mass (kg)
| Mass | 1.807e-01 |
Center of Mass (m)
| X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
| Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
Front-Left, Link 1 (FL1)
Mass (kg)
| Mass | 9.339e-01 |
Center of Mass (m)
| X | Y | Z | -2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | -1.837e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.648e-07 |
| Izx | Izy | Izz | -1.837e-03 | 5.648e-04 | 2.316e-03 |
Front-Left, Link 2 (FL2)
Mass (kg)
| Mass | 1.252e+00 |
Center of Mass (m)
| X | Y | Z | 2.405e-02 | -4.712e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 9.146e-03 | 1.888e-07 | 1.803e-03 |
| Iyx | Iyy | Iyz | 1.888e-07 | 1.135e-02 | -7.516e-06 |
| Izx | Izy | Izz | 1.803e-03 | -7.516e-06 | 2.764e-03 |
Front-Left, Link 3 (FL3)
Mass (kg)
| Mass | 4.558e-01 |
Center of Mass (m)
| X | Y | Z | -2.087e-03 | 4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | -3.125e-06 |
| Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | 1.949e-07 |
| Izx | Izy | Izz | -3.125e-06 | 1.949e-07 | 1.255e-04 |
Front-Left, Link 4 (FL4)
Mass (kg)
| Mass | 1.807e-01 |
Center of Mass (m)
| X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
| Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
Rear-Right, Link 1 (RR1)
Mass (kg)
| Mass | 9.339e-01 |
Center of Mass (m)
| X | Y | Z | -2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | -1.837e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.648e-07 |
| Izx | Izy | Izz | -1.837e-03 | 5.648e-07 | 2.316e-03 |
Rear-Right, Link 2 (RR2)
Mass (kg)
| Mass | 1.252e+00 |
Center of Mass (m)
| X | Y | Z | 2.405e-02 | -4.712e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 9.146e-03 | 1.888e-07 | 1.803e-03 |
| Iyx | Iyy | Iyz | 1.888e-07 | 1.135e-02 | -7.516e-06 |
| Izx | Izy | Izz | 1.803e-03 | -7.516e-06 | 2.764e-03 |
Rear-Right, Link 3 (RR3)
Mass (kg)
| Mass | 4.558e-01 |
Center of Mass (m)
| X | Y | Z | -2.087e-03 | 4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | -3.125e-06 |
| Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | 1.949e-07 |
| Izx | Izy | Izz | -3.125e-06 | 1.949e-07 | 1.255e-04 |
Rear-Right, Link 4 (RR4)
Mass (kg)
| Mass | 1.807e-01 |
Center of Mass (m)
| X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
| Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
Rear-Left, Link 1 (RL1)
Mass (kg)
| Mass | 9.339e-01 |
Center of Mass (m)
| X | Y | Z | 2.822e-02 | -2.367e-04 | -5.227e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.929e-03 | 0.000e-03 | 1.837e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.348e-03 | 5.651e-07 |
| Izx | Izy | Izz | 1.837e-03 | 5.651e-07 | 2.316e-03 |
Rear-Left, Link 2 (RL2)
Mass (kg)
| Mass | 1.252e+00 |
Center of Mass (m)
| X | Y | Z | -2.405e-02 | 8.202e-05 | -6.794e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 9.146e-03 | 8.441e-07 | -1.803e-03 |
| Iyx | Iyy | Iyz | 8.441e-07 | 1.135e-02 | 8.961e-06 |
| Izx | Izy | Izz | -1.803e-03 | 8.961e-06 | 2.764e-03 |
Rear-Left, Link 3 (RL3)
Mass (kg)
| Mass | 4.558e-01 |
Center of Mass (m)
| X | Y | Z | 2.087e-03 | -4.787e-06 | -6.086e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 3.198e-03 | -1.679e-09 | 3.125e-06 |
| Iyx | Iyy | Iyz | -1.679e-09 | 3.266e-03 | -1.949e-07 |
| Izx | Izy | Izz | 3.125e-06 | -1.949e-07 | 1.255e-04 |
Rear-Left, Link 4 (RL4)
Mass (kg)
| Mass | 1.807e-01 |
Center of Mass (m)
| X | Y | Z | 0.000e-03 | 0.000e-03 | 3.880e-02 |
Inertial Tensor (kg*m2)
| Ixx | Ixy | Ixz | 5.187e-04 | 0.000e-03 | 0.000e-03 |
| Iyx | Iyy | Iyz | 0.000e-03 | 5.207e-04 | 0.000e-03 |
| Izx | Izy | Izz | 0.000e-03 | 0.000e-03 | 2.116e-05 |
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)
