some questions about dynamics of KUKA LBR iiwa14

[dazhongtu]

您好，我下载了您的文件学习。我想问一下您有没有研究过v-rep 的机器人KUKA LBR iiwa14的动力学选项。
我在研究时发现，v-rep在这方面的设置比较简陋。

这个机器人的连杆质量2kg，三个方向的惯量/质量都相等，惯量矩阵是近似对角阵。
如果我通过URDF文件获取了机械臂连杆动力学参数(惯量矩阵之类的参数)，获取的动力学控制策略是不是更加有工程价值?
由于网络原因，我不确定有没有上传成功图片，如果没有的话，您能不能留一个邮箱或者其他联系方式。
再次感谢您。

Hello, I have downloaded your file to study. I was wondering if you have looked into the dynamics options of v-rep robot KUKA LBR iiwa14.
When I was researching, I found that v-rep has a rather rudimentary setup in this regard.
If I get the robot arm linkage dynamics parameters (inertia matrix or something like that) through the URDF file, is the dynamics control strategy obtained more valuable for engineering?
I am not sure if I have uploaded the image successfully due to network reasons, if not, could you please leave an email or other contact information.
Thank you again.