UR5e Plant Model for MPC (Matlab)

General Application Help: How do I?
1

Hi,
I am new with universal robot UR5e and I am learning right now MPC and I need Plant model of UR5e Robotarm and couldn’t find it anywhere. I would be appreciate if anyone helps me where to find it.
Thanks

2

I did some modelling for an old project based on the info I found on the ROS-industrial description packages.
For the UR5e there is a URDF-xacro description file here. This is only a part of it, but check the complete file for more details:

     # DH for ur5e:
      a = [0.00000, -0.42500, -0.39225,  0.00000,  0.00000,  0.0000]
      d = [0.089159,  0.00000,  0.00000,  0.10915,  0.09465,  0.0823]
      alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
      q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
      joint_direction = [-1, -1, 1, 1, 1, 1]
      mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
      center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]

Please be aware that for ROS packages some info (e.g. center of gravity) is measured by externals and it might differ from physical robots.