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Robotics_Toolbox >> Robotics_Toolbox > Link > set_I

set_I

Set link inertia

Description

L.I = [Ixx Iyy Izz] set link inertia to a diagonal matrix.

L.I = [Ixx Iyy Izz Ixy Iyz Ixz] set link inertia to a symmetric matrix with specified inertia and product of intertia elements.

L.I = M set Link inertia matrix to M (3x3) which must be symmetric.

Bibliography

[1] Robotics, Vision & Control, Chap 7, P. Corke, Springer 2011.

See also

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