Extension of Euler's Principal Axes to Articulated Inertia
نویسنده
چکیده
An e®ective inertia of a serially jointed chain of bodies, such as a robotic arm, is often referred to as the articulated or operational space inertia. Six principal axes and six principal values of inertia are proposed to decouple articulated inertia into geometric and constitutive properties respectively. In the case of a single rigid body, these concepts naturally coincide with familiar descriptions of inertia.
منابع مشابه
Automatic Spinal Deformity Detection by Two Characteristic Axes
line of human and the other axis is the principal This paper proposes a technique for judging spinal deformity from a moire image of a human back. The middle line and the principal axes of the back are extracted from the moire image and their difference is numerically evaluated. For the extraction of the middle line, the potential symmetry analysis technique is employed, whereas the principal a...
متن کاملVertical Dynamics Modeling and Simulation of a Six-Wheel Unmanned Ground Vehicle
Vertical dynamics modeling and simulation of a six-wheel unmanned military vehicle (MULE) studied in this paper. The Common Mobility Platform (CMP) chassis provided mobility, built around an advanced propulsion and articulated suspension system gave the vehicle ability to negotiate complex terrain, obstacles, and gaps that a dismounted squad would encounter. Aiming at modeling of vehicle vertic...
متن کاملExtracting Cross-Sectional Clinical Images Based on Their Principal Axes of Inertia
Cross-sectional imaging is considered the gold standard in diagnosing a range of diseases. However, despite its widespread use in clinical practice and research, no widely accepted method is available to reliably match cross-sectional planes in several consecutive scans. This deficiency can impede comparison between cross-sectional images and ultimately lead to misdiagnosis. Here, we propose an...
متن کاملConstructing Orientation Adaptive Quadtrees
A novel spatial data structure called the orientation adaptive quadtree (OAQ) is presented. The data structure takes advantage oflarge second-order moments of inertia of planar objects by aligning the quad tree axes with the object's principal axis of inertia. This provides a reduction in the number of leaf nodes necessary to store the quadtree compared to quadtrees aligned with the object coor...
متن کاملEstimation of Whole Body Moment of Inertia Using Self-imposed Oscillations
Able-bodied segment moment of inertia (MOI) can be determined from anthropometric tables and different models. These methods cannot be used for special populations such as obese subjects, elderly individuals, etc. The objectives of this study are to estimate the personalized in vivo moment of inertia of the whole body using three-dimensional (3-D) inverse dynamic and angular momentum approaches...
متن کامل