add autorun example
@@ -381,6 +381,14 @@ class DHDynamics:
:math:`\ddot{q} = \mathbf{I}^{-1} \left(\tau - \mathbf{C}(q)\dot{q} - \mathbf{g}(q)\right)`
+ Example:
+
+ .. runblock:: pycon
+
+ >>> import roboticstoolbox as rtb
+ >>> puma = rtb.models.DH.Puma560()
+ >>> puma.accel(puma.qz, 0.5 * np.ones(6), np.zeros(6))
+
**Trajectory operation**
If `q`, `qd`, torque are matrices (m,n) then ``qdd`` is a matrix (m,n)
