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Inverse Dynamics of the 2-Axis planar Manipulator 7

6

5

Joint Torque 1: tau1 (Nm)

4

3

2

1

0

-1

0

0.5

1

1.5

2 Time (Sec)

2.5

3

3.5

4

Tau_1  

5 6 7 0 0 1 2 3 4

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