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Moment of inertia of a composite model

asked 2018-11-06 15:53:19 -0500

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Hello, I am modeling a quadrotor using boxes and cylinders. Each box/cylinder is defined as individual link and has its own inertia. I know the exact inertia of the quadrotor and am trying fit the dimensions and masses of the links to the correct values using regression. However, I don't know how to calculate the combined inertia of the whole model.

I am wondering if anyone knows how Gazebo does it. When I start the simulation and print the model sdf as a string to the console I can see the combined inertia of the model. Or if anyone knows how to calculate it, it would be nice too. I am using ODE as my physics engine, if it's done within the physics engine.


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answered 2018-11-07 09:33:25 -0500

nkoenig gravatar image

You might the Inertia class useful. In particular, there is an operator + which could help you solve your problem.

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Asked: 2018-11-06 15:53:19 -0500

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Last updated: Nov 07 '18