To simulate the motion of a manipulator, we may use the simulation module by manipulating (28)
This represents the direct or integral or forward dynamic formulation giving joint motion in
terms of input torques.
M(q) is the symmetric joint-space inertia matrix and for a 6-DOF manipulator M is an
6x6 symmetric matrix.
is the manipulator Coiolis/centripetal torque and for 6-DOF manipulator C
will be a 
matrix.
is the joint friction torque, where
Figure 4 shows the simulation loop where the robot manipulator is replaced by a robot dynamic module.
