# dynamic robot model of the UR10e

**URL:** <https://forum.universal-robots.com/t/dynamic-robot-model-of-the-ur10e/19977>\
**Category:** General Application Help: How do I?\
**Created:** [March 18, 2022, 3:56pm UTC](https://forum.universal-robots.com/t/dynamic-robot-model-of-the-ur10e/19977 "2022-03-18T15:56:23Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon98953356](https://avatars.discourse-cdn.com/v4/letter/a/f475e1/32.png) [@anon98953356](https://forum.universal-robots.com/u/anon98953356)\
**Post date:** [March 18, 2022, 3:56pm UTC](https://forum.universal-robots.com/t/dynamic-robot-model-of-the-ur10e/19977/1 "2022-03-18T15:56:24Z")

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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

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<div class="post-metadata">

**Author:** ![MikeM](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mikem/32/3114_2.png) [@MikeM](https://forum.universal-robots.com/u/MikeM)\
**Post date:** [March 20, 2022, 3:44pm UTC](https://forum.universal-robots.com/t/dynamic-robot-model-of-the-ur10e/19977/2 "2022-03-20T15:44:08Z")

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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](https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/)

Best of luck!