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Parameter definition #25
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LerchD
changed the title
Simple text book example not reproducible
Parameter definition
Oct 28, 2019
Not completely right, the lowercase-L is the first moment of inerita. |
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Hey, thanks for providing this very useful tool.
I was not 100% sure, how to interprete your description of the barycentric parameters:
"L is the link inertia tensor computed about the link frame; l is the link first moment of inertia; m is the link mass. These are the so-called barycentric parameters, with respect to which the dynamic model is linear."
Am I right, that small l is the [x,y,z] vector from the i-th link frame origin to the i-th link center of mass in terms of the i-th link frame?
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