# UR5e Plant Model for MPC (Matlab)

**URL:** <https://forum.universal-robots.com/t/ur5e-plant-model-for-mpc-matlab/19067>\
**Category:** General Application Help: How do I?\
**Created:** [February 5, 2022, 10:58am UTC](https://forum.universal-robots.com/t/ur5e-plant-model-for-mpc-matlab/19067 "2022-02-05T10:58:13Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![anon72138128](https://avatars.discourse-cdn.com/v4/letter/a/ecccb3/32.png) [@anon72138128](https://forum.universal-robots.com/u/anon72138128)\
**Post date:** [February 5, 2022, 10:58am UTC](https://forum.universal-robots.com/t/ur5e-plant-model-for-mpc-matlab/19067/1 "2022-02-05T10:58:13Z")

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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

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<div class="post-metadata">

**Author:** ![cags](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/cags/32/6304_2.png) [@cags](https://forum.universal-robots.com/u/cags)\
**Post date:** [February 7, 2022, 11:03am UTC](https://forum.universal-robots.com/t/ur5e-plant-model-for-mpc-matlab/19067/2 "2022-02-07T11:03:17Z")

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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](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur5e.urdf.xacro). This is only a part of it, but check the complete file for more details:

```auto
     # 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.