Robotics Toolbox(3)

Dynamics

         accel                       - forward dynamics
         cinertia                    - Cartesian manipulator inertia matrix
         coriolis                    - centripetal/coriolis torque
         fdyn                        - forward dynamics
         wtrans                      - transform a force/moment
         gravload                    - gravity loading
         inertia                     - manipulator inertia matrix
         itorque                     - inertia torque
         rne                         - inverse dynamics