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itorque

Inertia torque

Calling Sequence

TAUI = itorque(R, Q, QDD)

Description

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.

Notes

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