Our Toy Robot has a low mass and uses servo motor actuators. Therefore, there is no need for any dynamical equations while going from one configuration to another.Now consider a much heavier robot with the same basic mechanism. Take the Autocannon above for example. If we're using torque control for driving the motors, we're gonna have to derive the dynamical equations governing the movement of the robot. Derive the Equations of motion for this robot in Joint Space.
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