李元宗, 王耀国. 机器人转动惯性张量的坐标变换[J]. 机器人, 1992, 14(2): 31-35.
引用本文: 李元宗, 王耀国. 机器人转动惯性张量的坐标变换[J]. 机器人, 1992, 14(2): 31-35.
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LI Yuangzong, WANG Yaoguo. COORDINATE TRANSFORMATION OF ROTATING INERTIAL TENSOR OF ROBOT[J]. ROBOT, 1992, 14(2): 31-35.
Citation: LI Yuangzong, WANG Yaoguo. COORDINATE TRANSFORMATION OF ROTATING INERTIAL TENSOR OF ROBOT[J]. ROBOT, 1992, 14(2): 31-35.
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机器人转动惯性张量的坐标变换

COORDINATE TRANSFORMATION OF ROTATING INERTIAL TENSOR OF ROBOT

    摘要
  • 摘要: 转动惯性张量是机器人动力学计算中的-个重要的物理量，本文用严格的数学方法推导并证明了-个刚体在两个共原点坐标系间转动惯性张量的变换公式，从而得出刚体从某-特定坐标系中的转动惯性张量来计算其它共原点坐标系中转动惯性张量的计算方法．

     

    Abstract: Rotating inertial tensor is an important physical quantity in robot dynamics.In this paper a transformation formula of rotating inertial teusor between two coordinate systems with the same origin is proved instrict mathematical method.And a general transformation approach of rotating inertial tensor from particular coordinate system to another with the same origin is presented.

     

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