×
TODO: Something!
SEE AML
Note See the link inertial tensor convention below.
Contents
1 Body (Base Link)
2 Front-Right, Link 1 (FR1)
3 Front-Right, Link 2 (FR2)
4 Front-Right, Link 3 (FR3)
5 Front-Right, Link 4 (FR4)
6 Front-Left, Link 1 (FL1)
7 Front-Left, Link 2 (FL2)
8 Front-Left, Link 3 (FL3)
9 Front-Left, Link 4 (FL4)
10 Rear-Right, Link 1 (RR1)
11 Rear-Right, Link 2 (RR2)
12 Rear-Right, Link 3 (RR3)
13 Rear-Right, Link 4 (RR4)
14 Rear-Left, Link 1 (RL1)
15 Rear-Left, Link 2 (RL2)
16 Rear-Left, Link 3 (RL3)
17 Rear-Left, Link 4 (RL4)
18 Link Inertial Tensor Convention
Body (Base Link)
body_coord_frame.png
Mass (kg)
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)
fr1_coord_frame.png
Mass (kg)
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)
fr2_coord_frame.png
Mass (kg)
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)
fr3_coord_frame.png
Mass (kg)
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)
fr4_coord_frame.png
Mass (kg)
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)
fl1_coord_frame.png
Mass (kg)
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)
fl2_coord_frame.png
Mass (kg)
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)
fl3_coord_frame.png
Mass (kg)
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)
fl4_coord_frame.png
Mass (kg)
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)
rr1_coord_frame.png
Mass (kg)
Center of Mass (m)
X
Y
Z
-2.822e-02
-2.367e-03
-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-06
Izx
Izy
Izz
-1.837e-03
5.648e-07
2.316e-03
Rear-Right, Link 2 (RR2)
rr2_coord_frame.png
Mass (kg)
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-04
Izx
Izy
Izz
1.803e-03
-7.516e-06
2.764e-03
Rear-Right, Link 3 (RR3)
rr3_coord_frame.png
Mass (kg)
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)
×
TODO: Something!
rr4_coord_frame.png
Mass (kg)
Center of Mass (m)
Inertial Tensor (kg*m2 )
Ixx
Ixy
Ixz
xx
xy
xz
Iyx
Iyy
Iyz
yx
yy
yz
Izx
Izy
Izz
zx
zy
zz
Rear-Left, Link 1 (RL1)
rl1_coord_frame.png
Mass (kg)
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-03
2.316e-03
Rear-Left, Link 2 (RL2)
rl2_coord_frame.png
Mass (kg)
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)
rl3_coord_frame.png
Mass (kg)
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)
×
TODO: Something!
rl4_coord_frame.png
Mass (kg)
Center of Mass (m)
Inertial Tensor (kg*m2 )
Ixx
Ixy
Ixz
xx
xy
xz
Iyx
Iyy
Iyz
yx
yy
yz
Izx
Izy
Izz
zx
zy
zz
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 )