Simulation

I/P :
O/P :
where and G(q) are the dynamics parameters.
Dynamic parameters will be [4] :

mass

mass of the link

rx

link COG with respect to the link coordinate frame

ry

rz

Ixx

elements of link inertia tensor about the link COG

Iyy

Izz

Ixy

Iyz

Ixz

Jm

armature inertia

G

reduction gear ratio;joint speed/link speed

B

viscous friction, motor referred

Tc+

coulomb friction (positive rotation),motor referred

Tc-

coulomb friction (negative rotation),motor referred