YASKAWA Motoman UP6 Instructions Manual page 213

case of about twice or more the distance from the flange to the center of gravity position), this
setting is needed.
The size of the tool is not too big.
Setting the inertia moment at center
of gravity is not necessary.
Rough value of the moment of inertia at the center of gravity can be calculated by followings
methods.
- Method to approximate the entire tool in hexahedron or cylinder.
- Method to calculate from each weight and center of gravity position of plural mass.
Refer to the following setting examples for details.
The size of the tool is big enough.
Setting the inertia moment at center
of gravity is necessary.
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3.11 ARM Control