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Hello, folks.
I'm modelling a 6-dof robotic arm using Simscape. I have modelled the kinematic model (connecting the different links [I modelled them as cylindrical solid] to the revolute joints - paying attention to the frames and all). I'm kinda stuck on how to model the dynamics. I introduced the intertial parameters of the links, the mass and the position of their centers of mass and all. But how do I definite the torques and sense the variation of the position with respect to time? Should I use the forward/inverse kinematics? I'm kinda stuck on how to move on from here.
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