www.gusucode.com > 机器人工具箱 - robot源码程序 > robot\demos\sldyn.m
function qdd = sldyn(robot, u) n = robot.n; q = u(1:n); qd = u(n+1:2*n); tau = u(2*n+1:3*n); qdd = accel(robot, u(1:n), u(n+1:2*n), u(2*n+1:3*n));