I know this topic has been discussed in other threads. However, I am still not 100% clear.
I have attached an image showing my tooling setup including the calculations for Inertia ( I am using Creo in this case)
Note: in my image the Robot TCP is the center of the orange circle plate (labeled x, y, z in the image).
I want to make sure I am using the correct values for inertia as highlighted in the red boxes.
I understand that I need to convert the units from mm^2 to cm^2. Also, I apparently need to divide everything by 980 to convert from kg to kgf.
So my results would be:
Ix: 0.909 kgf*cm^2
Iy: 0.953 kgf*cm^2
Iz: 0.084 kgf*cm^2
What do you think? Does this look close?