KUKA LWR4 Payload Diagram understanding

amex · June 12, 2020 at 4:19 PM

Hello,

I have read the documentation of my LWR4 Robot but for me is not clear how to understand the payload diagram. I need to understand it

because I want to create a tool-head for the robot. Could you please explane me how I can read and undestand the attached diagram.

What is the Point marked with "P"?

Thank you in advance!

Best regards

**SkyeFire** · June 12, 2020 at 7:16 PM

Point P is the CG of the payload, at distance Lxy from the center of the tool mounting flange in the XY plane, and Lz in the Z axis direction.

amex · June 13, 2020 at 7:22 PM

Thank you for your answer. Want to ask you what you mean with CG?

amex · June 13, 2020 at 9:06 PM

Quote from amex

Thank you for your answer. Want to ask you what you mean with CG?

I have understand it - CG = center of gravity

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