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Tesi etd-04082019-095529


Thesis type
Tesi di laurea magistrale
Author
FERRITTO, ANTONIO
URN
etd-04082019-095529
Title
Estimation of the inertial properties of a rigid body via free oscillation measurements.
Struttura
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Commissione
relatore Prof. Gabiccini, Marco
relatore Ing. Neri, Paolo
controrelatore Prof. Avizzano, Carlo Alberto
Parole chiave
  • natural modes
  • inertial properties
  • identification
  • free oscillations
  • estimation
  • pulsations
  • vibrations
Data inizio appello
26/04/2019;
Consultabilità
secretata d'ufficio
Data di rilascio
26/04/2022
Riassunto analitico
The thesis aims at describing and elaborating a methodology that could estimate the inertial properties of a rigid body, using the measurements collected from the analysis of the free oscillations of the object, previously suspended on springs. The goal of such measurements is to estimate the mass, the position of the center of mass and the components of the inertial tensor. An example of data collected from these computation is the evaluation of a scalar quantity, measured during the oscillation phase, such as, for instance, the elastic force running through one of the suspension springs.
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