T2 - Masses - V3.3¶
Warning
The Masses as well as the Center of Mass positions taken in account in the robot models have been updated in order to remove the slight dissymmetry between left and right limbs.
Legend¶
This page details, for each solid (S) of a robot, the Mass, Center of Mass and Inertial matrix.
![\text{CoM(S)} = \left[\begin{array}{c}
X_G \\ Y_G \\ Z_G
\end{array} \right]_{(o, R)} \text{(m)}](../../_images/math/24330a4dd46550ba4b30a2117a2f2a91acbf88de.png)
![\left[I_o(S)\right]_R = \left[\begin{array}{ccc}
I_{xx} & I_{xy} & I_{xz} \\
I_{yx} & I_{yy} & I_{yz} \\
I_{zx} & I_{zy} & I_{zz}
\end{array}\right]_R (\text{kg}*\text{m}^2)](../../_images/math/b9079a9d4c4d9fed9f05d8f905812260c08c86b5.png)
The Center of Mass position and the Inertial matrix are described relative to the local coordinate system of the current solid (S) (o, R).
All solids (S) and local coordinate system are described relative to the zero posture: with straight arms pointing forwards.
Whole robot¶
![\text{CoM(S)} = \left[
\begin{array}{c}
-0.00538 \\
0.00000 \\
-0.01026
\end{array}
\right]_{(o, R)}](../../_images/math/7cd08836e1cef6bd614341a75e01d5efd5fd1022.png)
![\left[I_o(S)\right]_R = \left[
\begin{array}{ccc}
0.00435995030 & 0.00000082162 & -0.00008883030 \\
0.00000082162 & 0.00392846043 & -0.00001054867 \\
-0.00008883030 & -0.00001054867 & 0.00212021848 \\
\end{array}
\right]_R](../../_images/math/b65e00d79a440f7647f82e47a3ec4bc9235a8d1e.png)
![\text{CoM(S)} = \left[
\begin{array}{c}
-0.00002 \\
+0.00000 \\
-0.02556
\end{array}
\right]_{(o, R)}](../../_images/math/2aba52ff7eef51a2b81080cce51acab60db4472d.png)
![\left[I_o(S)\right]_R = \left[
\begin{array}{ccc}
+0.00006180308 & -0.00000000205 & -0.00000004948 \\
-0.00000000205 & +0.00006281859 & -0.00000005067 \\
-0.00000004948 & -0.00000005067 & +0.00000543977
\end{array}
\right]_R](../../_images/math/308678c2a3c144f1a4db65ea606aec8d6a47e754.png)
![\text{CoM(S)} = \left[
\begin{array}{c}
+0.00120 \\
-0.00000 \\
+0.05353
\end{array}
\right]_{(o, R)}](../../_images/math/02c1beae872d1aa68203c221344e15db1d7139f8.png)
![\left[I_o(S)\right]_R = \left[
\begin{array}{ccc}
+0.00226587004 & +0.00000787181 & -0.00001192653 \\
+0.00000787181 & +0.00226420513 & -0.00000231846 \\
-0.00001192653 & -0.00000231846 & +0.00087373321
\end{array}
\right]_R](../../_images/math/0a779c65af5d63dc04cdf51912be83045dfbf2d4.png)
