10 lines
336 B
Mathematica
10 lines
336 B
Mathematica
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function [L] = inertiaMatrixCOM2DH(I, Mi, Moment)
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% Authors: Quentin Leboutet, Julien Roux, Alexandre Janot and Gordon Cheng
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%
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% This function computes the inertia matrix L of a robot link at the joint centre position, using the Inertia
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% matrix I of the same link but computed at its CoM.
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L = I + Skew(Moment)'*Skew(Moment)./Mi;
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end
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