I am trying to set the center of gravity and inertia values for my material handling tool and it is leaving me with a couple of questions.
Do I need to set the center of gravity based on the TCP or from the center of the T-axis?
What axis' should I use to calculate the inertia? I am assuming use Ixx, Iyy, and Izz but around the center of gravity or what else.
Do I need to include a payload for tool setup as it can vary or can I add that somewhere else?
Thank you!!!