Dear Robotics Stack Exchange,
I am trying to calculate the torques and forces for a 2DOF robot.
I’m used the partial differentiation method to find the Jacobian matrix. I managed to find the Transformation martix to find the Jacobian matrix in as shown in the figure but, I have hit a stopping block when I’ve been calculating the torques and forces. I’ve shown my working out below just as a reference.
I was wondering if anyone can shed light into finding the torques as im very close into gathering the equations.