# Weight and center of gravity for each robot link **URL:** \ **Category:** Robot Controller\ **Tags:** gravity, absacc\ **Created:** [December 25, 2020, 11:57am UTC](https://tech-community.robotics.abb.com/t/weight-and-center-of-gravity-for-each-robot-link/9894 "2020-12-25T11:57:26Z")\ **Posts on this page:** 3\ **Page:** 1
**Author:** ![Vlad222](https://avatars.discourse-cdn.com/v4/letter/v/8e7dd6/32.png) [@Vlad222](https://tech-community.robotics.abb.com/u/Vlad222)\ **Post date:** [December 25, 2020, 11:57am UTC](https://tech-community.robotics.abb.com/t/weight-and-center-of-gravity-for-each-robot-link/9894/1 "2020-12-25T11:57:26Z")
Hi all, I’m searching for weight and center of gravity for each robot link. Where can I get them? I’m doing research work with ABB 6700-300-2.7 with AbsAcc and need these parameters. Robot used them for calculating gravity compensation. I found article with phrase “ABB provided us the weight and center of gravity of each link for the ABB IRB 1600 robot.” Can I found it in robot controller? Or these parameters are hidden and I can only ask them in ABB? ---
**Author:** ![Vlad222](https://avatars.discourse-cdn.com/v4/letter/v/8e7dd6/32.png) [@Vlad222](https://tech-community.robotics.abb.com/u/Vlad222)\ **Post date:** [December 25, 2020, 2:23pm UTC](https://tech-community.robotics.abb.com/t/weight-and-center-of-gravity-for-each-robot-link/9894/2 "2020-12-25T14:23:28Z")
​Parameters are like at the picture: ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/f/fed8ed7ffd73e328cee7fb387bf8d8b833c59896.png) ---
**Author:** ![rukshan](https://avatars.discourse-cdn.com/v4/letter/r/e68b1a/32.png) [@rukshan](https://tech-community.robotics.abb.com/u/rukshan)\ **Post date:** [February 7, 2023, 9:42am UTC](https://tech-community.robotics.abb.com/t/weight-and-center-of-gravity-for-each-robot-link/9894/3 "2023-02-07T09:42:43Z")
Hi, I’m looking for this info for IRB4600,60kg model for a mobile manipulator design. Pls provide this info. Thank you.