Abstract
The inertia tensor is an important parameter in many engineering fields, but measuring it can be cumbersome and involve multiple experiments or accurate and expensive equipment. We propose a method to measure the moment of inertia tensor of a rigid body from a single spinning throw by attaching a small and inexpensive stand-alone measurement device consisting of a gyroscope, accelerometer, and a reaction wheel. The method includes a compensation for the increase of moment of inertia due to adding the measurement device to the body, and additionally obtains the location of the centre of gravity of the body as an intermediate result. Experiments performed with known rigid bodies show that the mean accuracy is around 2%. Monte Carlo simulations reveal invariance to direction of spin and positioning of the measurement device, but show some sensitivity to noise.
| Original language | English |
|---|---|
| Pages (from-to) | 7365-7371 |
| Number of pages | 7 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 10 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 2025 |
Bibliographical note
Green Open Access added to TU Delft Institutional Repository as part of the Taverne amendment. More information about this copyright law amendment can be found at https://www.openaccess.nl. Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.Keywords
- Calibration and identification
- dynamics