Weight and center of gravity for each robot link

Vlad222

Hi all,

I'm searching for weight and center of gravity for each robot link. Where can I get them? I'm doing research work with ABB 6700-300-2.7 with AbsAcc and need these parameters. Robot used them for calculating gravity compensation.

I found article with phrase "ABB provided us the weight and center of gravity of each link for the ABB IRB 1600 robot." Can I found it in robot controller? Or these parameters are hidden and I can only ask them in ABB?

Vlad222

​Parameters are like at the picture:

rukshan

Hi, I'm looking for this info for IRB4600,60kg model for a mobile manipulator design. Pls provide this info. Thank you.