Motion in space of a rigid body, and the inertia matrix The scalar moments of inertia appear as elements in a matrix when a system of particles is assembled into a rigid body that moves in three-dimensional space. This inertia matrix appears in the calculation of the angular momentum, kinetic energy and resultant torque of the rigid system of particles.L. W. Tsai, Robot Analysis: The mechanics of serial and parallel manipulators, John-Wiley, NY, 1999.
Motion in space of a rigid body, and the inertia matrix The scalar moments of in.ertia appear as elements in a matrix when a system of particles is assembled into a rigid body that m.oves in three-dimensional space. This inertia matrix appears in the calculation of the angular momentum, kinetic energy and resultant torque of the rigid system of particlesL. W. Tsai, Robot Analysis: The mechanics of serial and parallel manipulators, John-Wiley, NY, 1999