Robot arm inertia parameters
This structure consists of the elements to determine the mass, mass centre of gravity and inertia of the robot arm.
Structure name | Index |
dynamic_model.params[i].link[j]. | i = 0, 1, 2 j = 0 to 9 (maximum number of definable robot arms) |
Additional information
- Mass of the robot arm (P-CHAN-00778)
- X offset of the robot arm centre of gravity (P-CHAN-00779)
- Y offset of the robot arm centre of gravity (P-CHAN-00780)
- Z offset of the robot arm centre of gravity (P-CHAN-00781)
- Rotary offset of the robot arm centre of gravity of the X axis (P-CHAN-00782)
- Rotary offset of the robot arm centre of gravity of the Y axis (P-CHAN-00783)
- Rotary offset of the robot arm centre of gravity of the Z axis (P-CHAN-00784)
- Main moment of inertia of the robot arm in relation to the X axis (P-CHAN-00785)
- Main moment of inertia of the robot arm in relation to the Y axis (P-CHAN-00786)
- Main moment of inertia of the robot arm in relation to the Z axis (P-CHAN-00787)