Li run

Maybe I find a bug!

1

In function [t0dot,tLdot]=Accelerations(t0,tL,P0,pm,Bi0,Bij,u0,um,u0dot,umdot,robot) line 49, %Base-link Omega0=[SkewSym(t0(1:3)), zeros(3,3); zeros(3,3), zeros(3,3)]; This should be: Omega0=[SkewSym(t0(1:3)), zeros(3,3); zeros(3,3), SkewSym(t0(1:3))]; right?