Hi,
I am following the official documentation for the DH and inertial parameters for UR robots. I am using the UR5e model.
In the paragraph immediately following the frame diagram, it is stated that the moment of inertia is negligible for the UR5e robot. However, in the ROS ur_description repository, the authors appear to use specific values for it. Although I understand that this repository is maintained by a third-party community, I would appreciate it if you could share any information regarding the source of these values, if available.
Best regards,
Jiseock Kang