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inertia

Manipulator inertia matrix

Calling Sequence

I = inertia(R,Q)

Description

I = inertia(R,Q) is the symmetric joint inertia matrix (NxN) which relates joint torque to joint acceleration for the robot at joint configuration Q.

If Q is a matrix (KxN), each row is interpretted as a joint state vector, and the result is a 3d-matrix (NxNxK) where each plane corresponds to the inertia for the corresponding row of Q.

Notes

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