diff --git a/README.md b/README.md
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 # Dynamic calibration (dynamic parameter indentification) for rigid body manipulator
 The code was developed in the framework of the human-robot interaction project at [Innopolis University](https://innopolis.university/en/). One of the outputs of the project was a paper -- [Practical Aspects of Model-Based Collision Detection](https://www.frontiersin.org/articles/10.3389/frobt.2020.571574/full), where we provide some review of the recent developments in the field of dynamic calibration, outline the steps required for dynamic parameter identification and provide many useful references. If you have questions from theoretical perspective, please check the paper first. If find paper and code useful, consider citing it in your own papers.
 
+
+## Required external software
+1. [YALMIP](https://yalmip.github.io/) for formulating semidefinite programs
+2. [SDPT3](https://blog.nus.edu.sg/mattohkc/softwares/sdpt3/) for solving semidefinite programs
+
 The parameter identification prcedure can be divided into several steps:
 ## Finding regressor
 Right now, there are two ways to find regressor matrix:
diff --git a/UR10E_parameters b/UR10E_parameters
new file mode 100644
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+++ b/UR10E_parameters
@@ -0,0 +1,14 @@
+drvGains - коэффициенты передачи двигателей
+pi_drvs - моменты инерции двигателей (полная матрица инерции = матрица инерции твердых тел + диагональная матрица моментов инерций двигателей)
+pi_frcn - параметры трения 
+pi_rgd - динамические параметры манипулятора
+
+
+drvGains = [10.0000   10.6956    8.4566    9.0029    9.4800   10.1232]
+
+pi_drvs = [0.0000    3.7434    0.0000    0.0708    0.2342    0.4365]
+
+pi_frcn = [21.2560035178975	12.5483919746119	0.196127531079290	20.2209078488147	13.2656448586672	-0.753542068699768	10.3777424977617	4.99431320112810	     0.197915175643975	3.57505079619634	1.99785409182665	0.0548203669462869	2.49090134851989	2.69046065664555	-0.00961090201631413	3.02555317117942	2.29785428883088	0.0425285989157143]
+
+pi_rgd = [16.0176611535738	-2.00482708189127e-24	-4.24485395869232e-22	16.0176611535738	-4.24485395867403e-22	9.43727306189725e-07	-6.53436127827057e-22	-6.53436127823637e-22	3.50505913361878e-15	4.82735807687454	3.93252112150267	0.852872700795216	0.151907227487544	3.72055571331379	-0.594537596685827	1.90315714825294	0.0499515018125203	-0.275933516211432	3.26326766895734	7.92588780427583	2.22453155994020	-0.536563782355030	-0.176606571084730	1.38898515931147	-0.216688686682940	1.38868367868425	0.0239478724955783	0.242903204545637	0.893878743865011	2.48085522792275	1.02973744452979	0.232810369975328	-0.0122592945631829	0.0751257822869478	0.0743540253355278	1.06527257146170	-0.000582815216240731	-0.253394468238071	0.191762550420584	2.15599664972997	0.0286148910140748	-0.0338326593926075	-0.0256613339921903	0.108051336487696	-0.0138455726459147	0.111089405220237	0.00787524242077676	0.0934251412682158	0.114658605760645	2.15599365882885	0.0283844456390803	-0.00207558738053028	-0.0139815283589113	0.0353598234283524	-0.00400838436166993	0.00814485837826589	0.00266611685970840	-0.00108021254518030	-0.0158005587487420	0.222170406447329]
+