YASKAWA Motoman UP6 Instructions Manual page 215

• The own moment of
S U P P L E -
M E N T
The own moment of
expression when the center of gravity is at the center.
Refer the expression when the calculation of the moment of
Lx
Ix
X
Ix =
Iy =
Iz =
inertia
calculation for hexahedron and cylinder
inertia
of hexahedron and cylinder can be calculated by the next
Z
Ly
Iz
Lz
Iy
W e i g h t : W
2 2
Ly + Lz
* W
12
2 2
Lx + Lz
* W
12
2 2
Lx + Ly
* W
12
3-57
inertia
Z
Iz
H
Y
Ix
X
Ix = Iy =
2
r
Iz =
2
* Unit of Weight : [kg]
* Unit of Length
* Unit of Ix, Iy, Iz : [kg.m
3.11 ARM Control
at the center of gravity.
r
Y
Iy
W e i g h t : W
2 2
3 r + H
* W
12
* W
: [m]
2
]