# Moment of Inertia UR10e

**URL:** <https://forum.universal-robots.com/t/moment-of-inertia-ur10e/17212>\
**Category:** Technical Questions\
**Created:** [October 23, 2021, 11:20am UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur10e/17212 "2021-10-23T11:20:13Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon73835187](https://avatars.discourse-cdn.com/v4/letter/a/a698b9/32.png) [@anon73835187](https://forum.universal-robots.com/u/anon73835187)\
**Post date:** [October 23, 2021, 11:20am UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur10e/17212/1 "2021-10-23T11:20:13Z")

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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

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**Author:** ![mbush](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/mbush/32/76_2.png) [@mbush](https://forum.universal-robots.com/u/mbush)\
**Post date:** [October 24, 2021, 2:54pm UTC](https://forum.universal-robots.com/t/moment-of-inertia-ur10e/17212/2 "2021-10-24T14:54:43Z")

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Check out this forum post [Moment of inertia UR3 UR5 UR10](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745)