Path: Common/MassProperties
% Computes inertia and center of mass for a chain of bodies
- The origin is hinge 1. rHinge goes from hinge k to hinge k+1
- rCM goes from hinge k to the body k center of mass
- b is the rotation matrix at the hinge
- The first element in each body is body 1.
- This is for a single chain. Branches are not allowed.
Type InertiaChain for a demo of two bodies with hinge vectors along x.
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Form:
inr,cM] = InertiaChain(rHinge,rCM,b,mass,inr)
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Inputs
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rHinge (3,n) Vectors from the hinge k to hinge k+1
rCM (3,n) Vectors from the hinge k to body k center of mass
b {n} 3x3 rotation matrix, 4 by 1 quaternion or 3x1 Euler
angles at the hinge for each hinge
mass (1,n) Mass of each body
inr {n} Inertia matrices about the body k center of mass
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Outputs
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inrTotal (3,3) Inertia
cM (3,1) Center of Mass
massTotal (1,1) Mass total
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Common: General/DispWithTitle Common: Quaternion/Q2Mat Common: Transform/Eul2Mat Math: Linear/SkewSq
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