惯量参数如下：

<link name="shoulder_link">：
<inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>

 <link name="upper_arm_link">：
 <inertia ixx="0.22689067591" ixy="0.0" ixz="0.0" iyy="0.22689067591" iyz="0.0" izz="0.0151074"/>

 <link name="forearm_link">：
 <inertia ixx="0.049443313556" ixy="0.0" ixz="0.0" iyy="0.049443313556" iyz="0.0" izz="0.004095"/>

<link name="wrist_1_link">：
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>

 <link name="wrist_2_link">：
<inertia ixx="0.111172755531" ixy="0.0" ixz="0.0" iyy="0.111172755531" iyz="0.0" izz="0.21942"/>

<link name="wrist_3_link">：
 <inertia ixx="0.0171364731454" ixy="0.0" ixz="0.0" iyy="0.0171364731454" iyz="0.0" izz="0.033822"/>

% MDL_UR5是一个创建工作区变量ur5的脚本
描述了机器人UR5机械手的运动学特性
%使用标准DH约定。
％
定义工作空间向量:
% qz零关节角度配置
% qr臂沿+ve x轴配置

function r = mdl_ur5()
    
    deg = pi/180;
    
    % robot length values (metres)
    a = [0, -0.42500, -0.39225, 0, 0, 0]';

    d = [0.089459, 0, 0, 0.10915, 0.09465, 0.0823]';

    alpha = [1.570796327, 0, 0, 1.570796327, -1.570796327, 0]';
    
    theta = zeros(6,1);
    
    DH = [theta d a alpha];

    mass = [3.7000, 8.3930, 2.33, 1.2190, 1.2190, 0.1897];

    center_of_mass = [
        0,-0.02561, 0.00193
        0.2125, 0, 0.11336
        0.15, 0, 0.0265
        0, -0.0018, 0.01634
        0, -0.0018, 0.01634
        0, 0, -0.001159];
    
    
    % and build a serial link manipulator
    
    % offsets from the table on page 4, "Mico" angles are the passed joint
    % angles.  "DH Algo" are the result after adding the joint angle offset.

    robot = SerialLink(DH, ...
        'name', 'UR5', 'manufacturer', 'Universal Robotics');
    
    % add the mass data, no inertia available
    links = robot.links;
    for i=1:6
        links(i).m = mass(i);
        links(i).r = center_of_mass(i,:);
    end
    
    links(1).I = diag([0.010267495893,0.010267495893,0.00666]);
    links(2).I = diag([0.22689067591,0.22689067591 ,0.0151074]);
    links(3).I = diag([0.049443313556,0.049443313556,0.004095]);
    links(4).I = diag([0.111172755531,0.111172755531,0.21942]);
    links(5).I = diag([0.111172755531,0.111172755531,0.21942]);
    links(6).I = diag([0.0171364731454,0.0171364731454,0.033822]);
    
     links(1).Jm = 33e-6;
     links(2).Jm = 33e-6;
     links(3).Jm = 33e-6;
     links(4).Jm = 33e-6;
     links(5).Jm = 33e-6;
     links(6).Jm = 33e-6;
     links(1).qlim = [-180 180]*deg;
     links(2).qlim = [-180 180]*deg;
     links(3).qlim = [-180 180]*deg;
     links(4).qlim = [-180 180]*deg;
     links(5).qlim = [-180 180]*deg;
     links(6).qlim = [-180 180]*deg;

    
    % place the variables into the global workspace
    if nargin == 1
        r = robot;
    elseif nargin == 0
        assignin('caller', 'ur5', robot);
        assignin('caller', 'qz', [0 0 0 0 0 0]); % zero angles
        assignin('caller', 'qr', [180 0 0 0 90 0]*deg); % vertical pose as per Fig 2
    end
end