Dynamics Parametrization and Calibration of Flexible-Joint Collaborative Industrial Robot Manipulators

Table 2

The 49 inertial parameters that appear in the dynamic model of the UR5e manipulator when mounted such that the rotation axis of the base joint is oriented parallel to the gravitational acceleration.

1	–	–	–	–	–		–	–	–	–
2									–	–
3
4
5
6