When using the Euler-Lagrange approach for a surgical manipulator, which specific term in the dynamic equation accounts for the forces exerted by the robot's own weight?

In the dynamic equation of a surgical manipulator derived via the Euler-Lagrange method, the specific term that accounts for the forces exerted by the robot's own weight is the gravitational vector, typically denoted as G(q). The complete Euler-Lagrange dynamic equation is written as M(q)q'' + C(q, q')q' + G(q) = tau, where q represents the joint angles, q' represents the joint velocities, q'' rep....