Universal Robots Polyscope Installation Manual page 8

PAYLOAD CONFIGURATION
• When working with multiple grippers on the robot
at the same time it is even more important to
adjust payload and CoG accurately.
• For more complex payload offsets the method
listed on previous slides can be used to calculate
for different axes.
• CAD packages such as Solidworks can be used to
give the overall centre of mass of end effector
with different payloads. This is a convenient
approach if all model data is available.
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