inertiaMatrix

Class: simscape.multibody.MassDistribution
Namespace: simscape.multibody

Compute inertia matrix

Since R2022a

Syntax

IM = inertiaMatrix(md)

Description

IM = inertiaMatrix(md) computes the inertia matrix of the provided simscape.multibody.MassDistribution object, md.

Input Arguments

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`md` — Mass distribution
`simscape.multibody.MassDistribution` object

Mass distribution, specified as a simscape.multibody.MassDistribution object.

Output Arguments

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`IM` — Inertia matrix
`simscape.Value([`I_xx I_xy I_zx; I_xy I_yy I_yz; I_zx I_yz I_zz`],"mass*length^2")`

Inertia matrix of the mass distribution, returned as a simscape.Value object that represents a 3-by-3 matrix with a unit of mass*length^2. The diagonal elements of the inertia matrix are the moments of inertia, and the off-diagonal elements of the inertia matrix are the products of inertia.

Attributes

Access public

To learn about attributes of methods, see Method Attributes.

Version History

Introduced in R2022a