Inertia Matrix
Metric value
(kg * mm
2
)
Imperial value
(lb * in
2
)
lxx
lxy
lxz
111
0
0
0.38
0
0
lyx
lyy
lyz
0
70
3
0
0.24
0.01
lzx
lzy
lzz
0
3
165
0
0.01
0.56
Table 5-3: Moment of inertia matrix for the Wrist Camera. Values are approximated.
Fig. 5-2: The Wrist Camera center of mass, without and with tool plate.
5.2. Electrical and Optical Specifications
Robotic User Interface recommends you supply power to the Wrist Camera from the Universal Robotsrobot controller , as shown in
section Electrical Setup section; if for any reasons you cannot do so, here are the electrical specifications of the Wrist Camera.
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