[choreonoid-users 00029] Re: Doubt about ZMP calculation

[Luis Filipe Rossi]

Thank you for the explanation. Now I can see that you are in fact
calculating the inertial matrix for every piece that compose that
joint/link.

Regards,


On Tue, Feb 11, 2014 at 7:08 AM, Shin'ichiro Nakaoka
<s.nakaoka at aist.go.jp>wrote:

>
> Hi Luis,
>
> > Just to confirm if i understood correctly . The Moment od Inertia is
> > calculated referenced to the to Base link and not to the Joint rotation
> > axis nor to the link center of mass, correct?
>
> No. The inertia matrix of each link is the value around the center of
> mass of the link, and the rotation axes correspond to the link local
> coordinate.
>
> There is a case where the rigid body of a link is modeled as the
> composition of several rigid bodies, and the formulas you pointed out
> calculates the sum of all the moments of inertia.
>
> --
> Shin'ichiro Nakaoka <s.nakaoka at aist.go.jp>
>



-- 
Luís Filipe Rossi
Electrical Engineer
Biomechatronics Lab. / Grupo de Sensores Integráveis e Sistemas
Escola Politécnica
Universidade de São Paulo
Cel. +55 (11) 97662-9234
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