for a dynamic model of the UR10e I found the Moment of Inertia in
urcontrol.conf file as mentioned in moment-of-inertia-ur3-ur5-ur10 . Unfortunately this documet does not say in which coordinate system or units these Moments of Inertia are represented in.
- Based on rough estimations, [kgm^2] for the units of the moment of inertia would make sense.
- The orientation of the used coordinate systems are identical with the ones used in DH parameters for calculation of kinematics and dynamics
- The origin of the used coordinate system lies in the center of gravity of the corresponding link.
Can someone confirm or clarify this?
Thanks a lot!