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I am designing a 5 dof robotic arm, and for that I would like to find a torque equation. However, I am a little confused here: According to me the torque equation for M1 should be l2m2+l3m3+l4m4+l5m5 (m is mass of motors)(plus mass of link on their COG) but as these things will rotate so am I suppose to take their inertia or their mass? enter image description hereenter image description here

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