inertia matrix

inertia matrix

[i′nər·shə ‚mā·triks]
(mechanics)
A matrixMused to express the kinetic energy T of a mechanical system during small displacements from an equilibrium position, by means of the equation T = ½q̇ T Mq̇, where q̇ is the vector whose components are the derivatives of the generalized coordinates of the system with respect to time, and q̇ T is the transpose of q̇.
References in periodicals archive ?
where J is the 3x3 inertia matrix, [omega] is the 3x1 angular velocity vector, [tau] is the 3x1 vector of actuator torques, and d is the 3x1 vector of unknown external disturbances.
The rigid body inertia matrix is J=diag{1, 2, 3}, desired attitude is [x.
A dynamic model has been developed using the FE methods utilising a generalised inertia matrix [10].
s] are the nx1 vector of applied torques, M(q) is the nxn symmetric positive definite manipulator inertia matrix, C(q, [?
i] in the links joints, respectively; M([PHI])-positive definite symmetric inertia matrix, size nxn; N([PHI], [?
Then, on this basis, the material model, characterized by the inertia matrix [M], damping matrix [C] and the stiffness matrix [K] is obtained.