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Moment of Inertia of Link

asked 2018-03-19 14:06:24 -0500

pchidamb gravatar image

updated 2018-03-19 16:34:39 -0500

For the following SDF, I am trying to determine how to input the moment of inertia matrix. I have an in house simulation tool that inputs the moment of inertia at the COG w.r.t. the base frame.

As per this link

I need to find the COG- provide inertia xyz as the COG, RPY as the same as the link pose RPY and then simply enter the moment of inertia at the COG w.r.t. the base frame. Can some one please confirm this?

<link name="baseFrame"> <pose frame="">-0.2375 0.07875 -0.00875 1.5708 -0 0</pose> <inertial> <mass>1</mass> <inertia> <ixx>0.166667</ixx> <ixy>0</ixy> <ixz>0</ixz> <iyy>0.166667</iyy> <iyz>0</iyz> <izz>0.166667</izz> </inertia> <pose frame="">0 0 0 0 -0 0</pose> </inertial>

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answered 2018-04-19 14:49:47 -0500

pchidamb gravatar image

Here is what I found 1.For Links the MI is centered at the COG and hence we need to find the MI at the COG w.r.t. the base frame. 2.For links connected at joints we must find the MI at the origin of the Joint of the child link. 3. Also after entering the MI values do not forget to set unit mass AND divide the MI matrix by the mass. After this C:\fakepath\Hex_Mass_Correct.png we can see the pretty pink boxes!!

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Asked: 2018-03-19 14:06:24 -0500

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Last updated: Apr 19 '18