Table 3.

Inertial parameters for each link of xArm-5 robot.

	Mass (kg)	Center of mass (mm)
Link 1	2.177	[0.15, 27.24, –13.57]
Link 2	2.011	[36.7, –220.9, 33.56]
Link 3	2.01	[68.34, 223.66, 1.1]
Link 4	1.206	[63.87, 29.3, 3.5]
Link 5	0.17	[0, –6.77, –10.98]