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uscauv-legacy / old-uscauv-ros-pkg

ROS software used on robots made by the USC AUV Team.
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Coriolis and Centripetal Forces #7

Open canondetortugas opened 11 years ago

canondetortugas commented 11 years ago

We need to figure out if these forces will be of high enough order of magnitude to be worth simulating. If they are, we need to generate a Coriolis and centripetal matrix for Seabee. The forces are known to be negligible under the assumption that the robot is fully symmetric about the center of mass, so they will probably only be non-zero for the pitch and roll terms.

canondetortugas commented 11 years ago

We are mounting the IMU at the robot's center of mass, so centripetal forces are a no-go.