mdl_puma560
[Q2,Q3] = meshgrid(-pi:0.1:pi, -pi:0.1:pi);
for i=1:numcols(Q2);
    for j=1:numcols(Q3);
        B = p560.inertia([0 Q2(i,j) Q3(i,j) 0 0 0]);
        B11(i,j) = B(1,1);
    end
end
figure
surf(Q2, Q3, B11);  
xlabel('q2'); 
ylabel('q3'); 
title('Inertia B11');
meanB11 = mean(mean(B11))
minB11 = min(min(B11))
maxB11 = max(max(B11))

for i=1:numcols(Q3);
   B = p560.inertia([0 0 Q3(i,1) 0 0 0]);
   B22(i) = B(2,2);
end
meanB22 = mean(B22)
minB22 = min(B22)
maxB22 = max(B22)
figure
plot(Q3(:,1),B22);
xlabel('q3'); 
title('Inertia B22');