# What Coordinate System are the Moment of Inertia represented in?

**URL:** <https://forum.universal-robots.com/t/what-coordinate-system-are-the-moment-of-inertia-represented-in/19135>\
**Category:** Technical Questions\
**Created:** [February 8, 2022, 5:19pm UTC](https://forum.universal-robots.com/t/what-coordinate-system-are-the-moment-of-inertia-represented-in/19135 "2022-02-08T17:19:55Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![hannes.gamper](https://avatars.discourse-cdn.com/v4/letter/h/c57346/32.png) [@hannes.gamper](https://forum.universal-robots.com/u/hannes.gamper)\
**Post date:** [February 8, 2022, 5:19pm UTC](https://forum.universal-robots.com/t/what-coordinate-system-are-the-moment-of-inertia-represented-in/19135/1 "2022-02-08T17:19:55Z")

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Hello,

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](https://forum.universal-robots.com/t/moment-of-inertia-ur3-ur5-ur10/1745) . Unfortunately this documet does not say in which coordinate system or units these Moments of Inertia are represented in.

My guess:

1. Based on rough estimations, [kgm^2] for the units of the moment of inertia would make sense.
2. The orientation of the used coordinate systems are identical with the ones used in [DH parameters for calculation of kinematics and dynamics](https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/)
3. 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!