12 lines
389 B
Mathematica
12 lines
389 B
Mathematica
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function [I] = inertiaTensorDH2COM(L, 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 tensor I of a robot link at its CoM, using the Inertia
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% tensor L of the same link but computed at the joint centre position.
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for i=1:numel(Mi)
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I(:,:,i) = L(:,:,i) - Skew(Moment(:,i))'*Skew(Moment(:,i))./Mi(i);
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end
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end
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