Universal Robots Forum

Moment of Inertia UR10e

Hi, I’m currently working on the control of UR10e manipulator and trying to write an impedance control law.
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.

Thank you in advance

Check out this forum post Moment of inertia UR3 UR5 UR10