Simscape custom solid moment of inertia

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Matt Bancroft 2017-3-24

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https://ww2.mathworks.cn/matlabcentral/answers/331728-simscape-custom-solid-moment-of-inertia

I am modelling the motion of an inverted pendulum about a pivot (spherical joint) using Simscape. The pendulum is a solid object (shape: revolution; adjusted to form a truncated cone) with custom inertial settings. The mass and centre of mass of the pendulum is known and inputted to the model.

However, the location of the pendulum’s centre of mass is itself a composite value of a number of other objects’ centre of mass (I’m modelling the human body where each body segment [e.g. head, hand, trunk, foot, etc] has its own centre of mass which defines the whole-body centre of mass). Each body segment therefore has its own moments and products of inertia about the whole-body centre of mass, which when summed equate to the moments and products of inertia about the centre mass. [An explanation of this can be found here in case it is helpful: https://www.c-motion.com/v3dwiki/index.php/MODEL_MOMENT_OF_INERTIA ]

Does Simscape expect the inertial tensor to be expressed as the moments/products of inertia about the centre of mass? Or does Simscape expect the inertial tensor to be expressed as the moments/products of inertia about the pivot?

I understand that the inertial tensor needs to be in a reference frame with axes parallel to that of the solid and its origin located at the centre of mass of the solid ( https://uk.mathworks.com/help/physmod/sm/ug/specifying-solid-inertia.html ).