12 lines
389 B
Mathematica
12 lines
389 B
Mathematica
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function [L] = inertiaTensorCOM2DH(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 tensor L of a robot link at the joint centre position, using the Inertia
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% tensor I of the same link but computed at its CoM.
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for i=1:numel(Mi)
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L(:,:,i) = I(:,:,i) + Skew(Moment(:,i))'*Skew(Moment(:,i))./Mi(i);
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end
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end
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