I am trying to model the dynamics of the robot for controlling it with and H2/Hinf controller. However, I cant seem to understand what does the Center of Mass table in the DH-Parameters (Universal Robots - DH Parameters for calculations of kinematics and dynamics) page stand for?
is it the vector from the base frame to the center of mass when the robot is in the home pose?
is it the vector from the previous frame to the center of mass?
what are the joint angles for these vectors?