robot.srlib_inertia(i,:) = [ inr(1,1,i), inr(2,2,i), inr(3,3,i), inr(1,2,i), inr(1,3,i), inr(2,3,i), mx(:,i)', m(i)]; robot.link(num).Tci = [eye(3),-cm(:,num);zeros(1 ...