The dynamics of a 2-link arm are (m + m) + m + ma00 sin 0...

 

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The dynamics of a 2-link arm are (m + m) + m + ma00 sin 0 +mg cos = T m + (m + m) +ma sin + mgcos = T Write the state-space form taking the state as x = [0 0 = 0 0 0]. Write the complete equations, finding the inverse of M(q) and simplifying as much as you can. The dynamics of a 2-link arm are (m + m) + m + ma00 sin 0 +mg cos = T m + (m + m) +ma sin + mgcos = T Write the state-space form taking the state as x = [0 0 = 0 0 0]. Write the complete equations, finding the inverse of M(q) and simplifying as much as you can.

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To write the dynamics of a 2link arm in statespace form we first need to express the equations of motion in the form dotx Ax Bu where x is the state v... View the full answer