# Moment of Inertia for Newton-Euler Dynamic

**URL:** <https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844>\
**Category:** Technical Questions\
**Created:** [June 11, 2021, 2:41am UTC](https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844 "2021-06-11T02:41:09Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![pme0918087420](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pme0918087420/32/2497_2.png) [@pme0918087420](https://forum.universal-robots.com/u/pme0918087420)\
**Post date:** [June 11, 2021, 2:41am UTC](https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844/1 "2021-06-11T02:41:09Z")

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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.

> [@Moment of inertia UR3 UR5 UR10](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745):
>
> I am building a robot mobility platform and I need to understand the maximum moment of inertia for all three robots. I thought I would ask here first and if the information is unavailable, then I will calculate and hope that my calculations are correct. Thanks, Jerry Stokely

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

Thanks!

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**Author:** ![Ebbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/ebbe/32/1413_2.png) [@Ebbe](https://forum.universal-robots.com/u/Ebbe)\
**Post date:** [June 14, 2021, 8:19am UTC](https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844/2 "2021-06-14T08:19:39Z")

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[urcontrol.conf.zip](https://forum.universal-robots.com/uploads/short-url/wJumQ0bSkEbEaiJymeE5dI5VBP6.zip) (3.6 KB)  
Hi @pme0918087420

Welcome to the UR community! I have attached the configuration files.

Best Regards  
Ebbe

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**Author:** ![pme0918087420](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pme0918087420/32/2497_2.png) [@pme0918087420](https://forum.universal-robots.com/u/pme0918087420)\
**Post date:** [June 14, 2021, 12:56pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844/3 "2021-06-14T12:56:46Z")

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Sorry for bothering, I might be new to the system. May I ask about how can I open this file? Thanks

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**Author:** ![pho](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/pho/32/2275_2.png) [@pho](https://forum.universal-robots.com/u/pho)\
**Post date:** [June 14, 2021, 4:23pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844/4 "2021-06-14T16:23:01Z")

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You can use Notepad++

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**Author:** ![spbe](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/spbe/32/2552_2.png) [@spbe](https://forum.universal-robots.com/u/spbe)\
**Post date:** [June 14, 2021, 4:25pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844/5 "2021-06-14T16:25:29Z")

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No need for apologies @pme0918087420

It’s regular text files, so you can just open them in your preferred text editor, e.g. Notepad++, Sublime Text etc.

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**Author:** ![system](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/system/32/1_2.png) [@system](https://forum.universal-robots.com/u/system)\
**Post date:** [June 17, 2021, 9:15am UTC](https://forum.universal-robots.com/t/moment-of-inertia-for-newton-euler-dynamic/14844/6 "2021-06-17T09:15:39Z")

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Closed on June 17, 2021, 9:15am UTC

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