Recent content by Sed

The model is for a dynamically equivalent manipulator (fixed base with spherical passive joint). The model was developed in the attached paper. I checked all the steps, everything seems fine except for the resulting inertia matrix. The whole matrix is non invertible but if i divide it into small...

Hello, What could be wrong when the total inertia matrix of a robotic manipulator is non invertible when under certain values of the joint angles? Thank you

Thank you all for your explanations. it is clear in my head now :)

Hello, thank you for your response. let's say we have a cube with coordinate frame at its centre. The body can rotate about z, y and x. In that case would the inertia tensor be different from the common inertia tensor of a cube that rotates only around z? Thank you again

Homework Statement Hello, I know about the inertia tensor about one axis, but how about a body that rotates around 3 axis x,y and z such as a spacecraft with changes in the attitude. Thanks for you help. Homework EquationsThe Attempt at a Solution