Gazebo: Q&A Forum - RSS feedhttp://answers.gazebosim.org/questions/Open source question and answer forum for GazeboenCopyright Askbot, 2010-2011.Mon, 26 Jun 2023 14:34:27 -0500Should interia origin must align exactly with the point where axis of rotation is ?http://answers.gazebosim.org/question/29218/should-interia-origin-must-align-exactly-with-the-point-where-axis-of-rotation-is/Is is necessary that inertia origin must align with the axis of rotation. My robotics arm is acting very weirdll. it vibrates. also applying forces make it more unstable. Sun, 25 Jun 2023 11:47:33 -0500http://answers.gazebosim.org/question/29218/should-interia-origin-must-align-exactly-with-the-point-where-axis-of-rotation-is/Answer by jrtg for <p>Is is necessary that inertia origin must align with the axis of rotation. My robotics arm is acting very weirdll. it vibrates. also applying forces make it more unstable. </p>
http://answers.gazebosim.org/question/29218/should-interia-origin-must-align-exactly-with-the-point-where-axis-of-rotation-is/?answer=29221#post-id-29221It is perfectly possible to simulate a link with eccentric mass wrt the joint axis, so it is not required that the inertia origin aligns with the axis of rotation.Mon, 26 Jun 2023 14:34:27 -0500http://answers.gazebosim.org/question/29218/should-interia-origin-must-align-exactly-with-the-point-where-axis-of-rotation-is/?answer=29221#post-id-29221