"m, r, and i" Parameters for Peter Corke's Robotics Toolbox

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Joe Bennet am 9 Nov. 2021
Kommentiert: Joe Bennet am 9 Nov. 2021
Getting "dynamic parameters (m, r, I) not set in link 1" error message, and have no idea what they are. My DH parameters have been set and are correct, any ideas?
Cheers
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Joe Bennet am 9 Nov. 2021
clc, clear, close all
I=5000; %Max iterations
L(1)= Link([0 75e-3 0 -pi/2], 'modified', 'm', [24e-3], 'r', [0 37.5e-3 0], 'I', [0 35 0]);
L(2)= Link([0 0 125e-3 0], 'modified', 'I', [0 0.15 0], 'm', 66e-3, 'r', [0 62.5e-3 0]);
L(3)= Link([0 0 72.1e-3 -pi/2], 'modified', 'I', [0 0.30 0], 'm', 21e-3, 'r', [0 36.05e-3 0]);
L(4)= Link([0 86.4e-3 0 -pi/2], 'modified', 'I', [0 0.20 0], 'm', 23e-3, 'r', [0 43.2e-3 0]);
L(5)= Link([0 0 40e-3 0], 'modified', 'I', [0 0.15 0], 'm', 11e-3, 'r', [0 20e-3 0]);
qn= [0, pi/4, -pi, pi/4, 0]; %Nominal, dexterous position
qz= [0, 0, 0, 0, 0]; %Zero angle
qr= [0, pi/2, -pi/2, 0, 0]; %Ready, straight & vertical
qs= [0, 0, -pi/2, 0, 0]; %Straight, straight & horizontal
G04= SerialLink(L, 'name', 'G04');
L.dyn()
This is my code, but I doesnt set the Mass, Center of Gravity or Inertia for the links. Hope you can help! :)

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