dynamic robot model of the UR10e

General Application Help: How do I?
1

Hello all,

I want to write a simple visualization tool for a UR10e in Python. The input should be the motor torques and the robot should then move to the corresponding joint configuration.
For this I need to solve the direct dynamic problem and need a dynamic robot model of the UR10e.
Has anyone already had experience with setting up such a model and can help me?

Many thanks in advance.

Kind regards
Lena

2

Here’s the kinematic calculator, maybe this might help get you started or at least some useful information for your application

UR kinematic/dynamic calculator, DH Parameters

Best of luck!