11 lines
337 B
Mathematica
11 lines
337 B
Mathematica
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function [I] = inertiaMatrixDH2COM(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 matrix I of a robot link at its CoM, using the Inertia
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% matrix L of the same link but computed at the joint centre position.
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I = L - Skew(Moment)'*Skew(Moment)./Mi;
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end
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