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. Author manuscript; available in PMC: 2022 Jun 16.
Published in final edited form as: Proc Int Conf Ind Mech Eng Oper Manag. 2021;4(4):885–894.

Table 4.

Inertial parameters for each link of xArm-6 Robot

Link i 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 1.725 [69.77, 113.5, 11.6]
Link 4 1.211 [−0.2, 20.0, 26.0]
Link 5 1.206 [63.87, 29.3, 3.5]
Link 6 0.17 [0, −6.77, −10.98]