Mass matrix

NikolasTheissenNikolasTheissen Stockholm, Sweden
Hello,
For a student project, we were wondering how to find the mass matrices for the links of an industrial robot. We have an ABB IRB 1600 with IRC 5 and RobotStudio at our disposal. We are looking for a simple mean, i.e. we do not intend to measure our actual robot. Looking forward to your answers.

Cheers
KTH student group
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