#### dkunosic

##### Newbie level 2

**moment of inertia matlab**

I hope that somebody can help me with this problem. I do not know how to calculate total momet of inertia for two-link planar arm with the following data:

a1 = a2 = 0.8m

l1 = l2 = 0.5m

ml1 = ml2 = 20kg

Il1 = Il2 = 10kgm2 (moment of inertia relative to the centres of mass of the two links)

Ra1 = Ra2 = 20 Ω

Im1 = Im2 = 0.04kgm2 (moment of inertia with respect to the axes of the two rotors)

kv1 = kv2 = 2Vs/rad

kt1 = kt2 = 3Nm/A

Fm1 = Fm2 = 0.01Nms/rad

ktp = 1

ktp = ktv = 0.4

ζ = 0.6

ωn = 7rad/s.

I need this in order to make comparasion betwen various control schemes in matlab.

Thank you.