[hanzel]

I was able to resolve the issue on my own. However, regarding the dynamics equations, I solved them using a geometric approach and obtained the expected results theoretically. Nevertheless, when I applied those results to the robot, the actual behavior did not match the expected outcome.

I have carefully measured and verified the dimensions to ensure they are consistent with the robot model specifications. I am conducting this experiment mainly for research purposes and to deepen my understanding through practical learning.The robot I am currently using is the ABB-IRB-360-1-1600.

[Albert]

What issue are you referring to? What outcome does not match?

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