Hello CoppeliaSim Community,
I'm trying to change the inertia matrix and the CoM's position of the links of a robot in CoppeliaSim.
I have the values that I want to assign to each link relative to the absolute frame, but as soon as I insert the values in the form and click OK, the inertia matrix that I inserted changes, while the CoM's position remains as desired.
Why is this happening? How can I change the values of the inertia matrix in a custom way?
Thank you very much,
Marco
Change Link Inertia Matrix
Re: Change Link Inertia Matrix
Hello,
what is happening is following: each inertia matrix can be represented as a diagonal matrix in a different rotational reference frame, where the diagonal elements represent the principal moments of inertia. This is happening in your case, but the inertia matrix is still the same.
Cheers
what is happening is following: each inertia matrix can be represented as a diagonal matrix in a different rotational reference frame, where the diagonal elements represent the principal moments of inertia. This is happening in your case, but the inertia matrix is still the same.
Cheers