Geometric and Dynamic Parameters of KUKA KR200 / KR210 Robots?

[twixxter]

Hello togehter,

actually I am trying to set up a Dynamic Model of a KUKA Industrial Robot in MATLAB using the Robotics Toolbox from Peter Corke. As the manufacturer does not offer exact data about their Robots I hope that anyone could help me to find the needed information about

- the geometric parameters: Denavit Hartenberg - Parameters
- the dynamic parameters: link masses, centres of mass, inertias ans friction parameters for all six links

I would be extremely thankful to anybody who could help me find those values!

Kind regards,
Christian Hansen