first question in this forum :D
so i started creating a 2 link robotic arm in SIMULINK and made a function that builds its trajectory (cubic spline) and used it as an input for my joint. so my input was position and output was the torque etc.
Now i would like my input to be torque,how do i go about it? should i create a transfer function out of the dynamic equation OR can i use the trajectory in someway OR is there a simple way? If you have an answer i would appreciate if you can send a detailed explanation on how you can do that in SIMULINK