Question: (a) Draw the block diagram for the mechanical system shown in Figure 1, showing the inputs and outputs of the system. JG2 JG1 Damper

(a) Draw the block diagram for the mechanical system shown in Figure 1, showing the inputs and outputs of the system. JG2 JG1 Damper b W2 S21 , S1 Jm Motor W1 I'm |Robotic Arm m Figure 1: A schematic of the elbow joint in a robot arm. (b) Find the linearized model for your system.

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