1.5 The nonlinear dynamic equations for a single-link manipulator with flexible joints [185], damping ignored, is given by Iĝı + MgL sin q1 + k(q1 - 92) = Jä2 – k(q1 - 92) where q1 and q2 are angular positions, I and J are moments of inertia, k is a spring constant, M is the total mass, L is a distance, and u is a torque input. Choose state variables for this system and write down the state equation.

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Beams

In structural engineering, a beam is a component made of a variety of materials (including steel alloys, and wood) that can resist loads applied laterally to the beam axis. Members, elements, rafters, shafts, and purlins are all terms used to describe beams.