It concerns KRC4 KSS8.2
To define the load, you also have to give in the inertia.
Is this inertia referenced towards the position of tool 0 (middle of flange axis 6) or towards the center of gravity of the load?
intertia of load gripper
- SimotionD410
- Thread is marked as Resolved.
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inertia is about center of gravity of the load. in other words, if you change location of load relative to flange, you do not need to recalculate inertia, just specify where it is...
XYZ represents location of that CoG in reference to flange (for Payload, as well as for Supplementary load for A3 - when robot is in mechanical zero)
ABC is rotation of inertia axes relative to flange coordinate system.
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