Gravity loading
TAUG = gravload(ROBOT,Q) TAUG = gravload(ROBOT,Q, GRAV)
TAUG = gravload(ROBOT,Q)
is the joint gravity loading for the robot in the
joint configuration Q. Gravitational acceleration is a property of the
robot object.
If Q is a row vector, the result is a row vector of joint torques. If Q is a matrix, each row is interpreted as a joint configuration vector, and the result is a matrix each row being the corresponding joint torques.
TAUG = gravload(ROBOT,Q, GRAV)
is as above but the gravitational
acceleration vector GRAV is given explicitly.