function  [FF MM]=RobotStatics(DH,MCii,mm,Fe,Me,g)
FF=[];
MM=[];

MCL=RobotCOM(DH,MCii);
MLL=RobotLL(DH);
for n=size(MCii,2):-1:1

[FF1 MM1]=LinkStatics(mm(n),MCL(:,n),MLL(:,n),Fe,Me,g);

Fe=FF1;
Me=MM1;

FF=[FF1 FF];
MM=[MM1 MM];
end
end

