Universal Robots Forum

Moment of Inertia for Newton-Euler Dynamic

Hi, I’m currently working on the calculation of recursive Newton-Euler dynamic to estimate the force response of UR10 manipulator.
I need to know the moment of inertia information of each link in order to calculate Newton-Euler.

I’ve already find the discussion below, but I cannot find the file mentioned in this draft.

Can anyone give me some instruction on how to obtain the moment of inertia?