1. Considering block diagram of a robotic arm, obtain differential equation and state space mode

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1. Considering block diagram of a robotic arm, obtain differential equation and state space model of the system. Inertial coupling Torque $\tau$ + $D^{-1}$ $\ddot{q}$ $\frac{1}{s}$ $\dot{q}$ $\frac{1}{s}$ $q$ $w$ $y$ Fricton + b Coriolis + c Centrifugal h Gravity Dynamics Kinematics