Inertia torque
TAUI = itorque(R, Q, QDD)
TAUI = ITORQUE(R, Q, QDD) is the inertia force/torque vector (1xN) at the specified joint configuration Q (1xN) and acceleration QDD (1xN), that is, TAUI = INERTIA(R, Q)*QDD.
If Q and QDD are matrices (KxN), each row is interpretted as a joint state vector, and the result is a matrix (KxN) where each row is the corresponding joint torques.
If the robot model contains non-zero motor inertia then this will included in the result.