dynamic robot model of the UR10e

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

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!